diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-16-9_1675518157/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-16-9_1675518157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ae26da376b95e526913097fc6a9a65831921596 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-16-9_1675518157/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1704.137401720515, + 688.1463247354832, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1702.637401720515, + 685.5482485241298, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1701.137401720515, + 682.9501723127764, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1699.637401720515, + 680.3520961014231, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1698.137401720515, + 677.7540198900697, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1696.637401720515, + 675.1559436787163, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1695.137401720515, + 672.5578674673629, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1693.637401720515, + 669.9597912560096, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1692.137401720515, + 667.3617150446562, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1690.637401720515, + 664.7636388333028, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1689.137401720515, + 662.1655626219494, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1687.637401720515, + 659.5674864105961, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1686.137401720515, + 656.9694101992427, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1684.637401720515, + 654.3713339878893, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1683.137401720515, + 651.773257776536, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1681.637401720515, + 649.1751815651826, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1680.137401720515, + 646.5771053538292, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1678.637401720515, + 643.9790291424758, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1677.137401720515, + 641.3809529311225, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1675.637401720515, + 638.7828767197691, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1674.137401720515, + 636.1848005084157, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1672.637401720515, + 633.5867242970623, + 63.89265425180172 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1672.637401720515, + 633.5867242970623, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1672.637401720515, + 630.5867242970623, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1672.637401720515, + 627.5867242970623, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1672.637401720515, + 624.5867242970623, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1672.637401720515, + 621.5867242970623, + 63.89265425180172 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1672.637401720515, + 618.5867242970623, + 63.89265425180172 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1664.0, + 600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-16_19485054/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-16_19485054/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c07d99b3ce0f4c8e3e3fe3b5e3a20aed55a4c573 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-16_19485054/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1049.1547487267687, + -1321.9908774962248, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1050.6547487267687, + -1324.5889537075782, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1052.1547487267687, + -1327.1870299189316, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1053.6547487267687, + -1329.785106130285, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1055.1547487267687, + -1332.3831823416383, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1056.6547487267687, + -1334.9812585529917, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1058.1547487267687, + -1337.579334764345, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1059.6547487267687, + -1340.1774109756984, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1061.1547487267687, + -1342.7754871870518, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1062.6547487267687, + -1345.3735633984052, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1064.1547487267687, + -1347.9716396097585, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1065.6547487267687, + -1350.569715821112, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1067.1547487267687, + -1353.1677920324653, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1068.6547487267687, + -1355.7658682438187, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1070.1547487267687, + -1358.363944455172, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1071.6547487267687, + -1360.9620206665254, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1073.1547487267687, + -1363.5600968778788, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1074.6547487267687, + -1366.1581730892322, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1076.1547487267687, + -1368.7562493005855, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.6547487267687, + -1371.354325511939, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1079.1547487267687, + -1373.9524017232923, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1080.6547487267687, + -1376.5504779346456, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1082.1547487267687, + -1379.148554145999, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1083.6547487267687, + -1381.7466303573524, + 40.98195807457619 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1085.1547487267687, + -1384.3447065687058, + 40.98195807457619 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + -1408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-5_738393740/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-5_738393740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab8adc16d2e195eb70f180779f8f7b3764e2ec43 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-23-5_738393740/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -102.23385993521218, + 56.959666031464984, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -103.73385993521218, + 59.5577422428183, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -105.23385993521218, + 62.155818454171616, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -106.73385993521218, + 64.75389466552494, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -108.23385993521218, + 67.35197087687826, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -109.73385993521218, + 69.95004708823157, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -111.23385993521218, + 72.54812329958489, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -112.73385993521218, + 75.1461995109382, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.23385993521218, + 77.74427572229152, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -115.73385993521218, + 80.34235193364484, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -117.23385993521218, + 82.94042814499815, + 67.1300486287452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -118.73385993521218, + 85.53850435635147, + 67.1300486287452 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-27-32_1931513970/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-27-32_1931513970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dfda263f110d8c5333b3d2acd6944efcafd0dc6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-27-32_1931513970/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -162.81670246077155, + -1669.0279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.81670246077155, + -1669.0279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -156.81670246077155, + -1669.0279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -153.81670246077155, + -1669.0279070082697, + 45.04958481903495 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -153.81670246077155, + -1669.0279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -151.21862624941824, + -1667.5279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -148.62055003806492, + -1666.0279070082697, + 45.04958481903495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -146.0224738267116, + -1664.5279070082697, + 45.04958481903495 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.0, + -1656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-3-15_1156541312/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-3-15_1156541312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7045b70c4bdcb01355014680cabbb841c3375323 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-3-15_1156541312/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1426.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1423.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1420.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1417.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1414.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1411.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1408.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1405.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1402.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1399.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1396.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1393.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1390.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1387.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1384.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1381.7371254245766, + 1134.3289684667448, + 47.624437490236524 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 1136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-37_1725138377/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-37_1725138377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ca48f6d354a55472010322760c226e584fd077a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-37_1725138377/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1299.3170548768207, + -11.125542463228712, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1297.8170548768207, + -8.527466251875396, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1296.3170548768207, + -5.92939004052208, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1294.8170548768207, + -3.3313138291687636, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1293.3170548768207, + -0.7332376178154476, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1291.8170548768207, + 1.8648385935378684, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1290.3170548768207, + 4.462914804891184, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1288.8170548768207, + 7.0609910162445, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1287.3170548768207, + 9.659067227597816, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1285.8170548768207, + 12.257143438951132, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1284.3170548768207, + 14.855219650304448, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1282.8170548768207, + 17.453295861657764, + 60.965886631646576 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1282.8170548768207, + 17.453295861657764, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1282.8170548768207, + 20.453295861657764, + 60.965886631646576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1282.8170548768207, + 23.453295861657764, + 60.965886631646576 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1268.0, + 60.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-5-47_1748806355/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-5-47_1748806355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..670c788a205d52747893a7310dc24f6ad4fe60a2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-5-47_1748806355/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1616.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1613.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1610.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1607.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1604.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1601.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1598.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1595.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1592.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1589.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1586.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1583.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1580.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1577.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1574.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1571.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1568.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1565.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1562.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1559.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1556.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1553.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1550.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1547.5528907433384, + 229.820107816257, + 61.79243544459597 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + 232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-53-12_1814887560/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-53-12_1814887560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a9227e12207a4fe2ef5c62467e16e5c871d705c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-53-12_1814887560/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 549.1406570325438, + 11.527043662567813, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 550.6406570325438, + 14.125119873921129, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 552.1406570325438, + 16.723196085274445, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 553.6406570325438, + 19.32127229662776, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 555.1406570325438, + 21.919348507981077, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 556.6406570325438, + 24.517424719334393, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 558.1406570325438, + 27.11550093068771, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 559.6406570325438, + 29.713577142041025, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 561.1406570325438, + 32.31165335339434, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 562.6406570325438, + 34.90972956474766, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 564.1406570325438, + 37.50780577610097, + 50.95753888449162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 565.6406570325438, + 40.10588198745429, + 50.95753888449162 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-16_550245196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-16_550245196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8137cf125ebe1c02e4a60569df48625899654b9f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-16_550245196/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1244.5173992699597, + 995.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1244.5173992699597, + 998.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1244.5173992699597, + 1001.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1244.5173992699597, + 1004.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1244.5173992699597, + 1007.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1244.5173992699597, + 1010.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1244.5173992699597, + 1013.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1244.5173992699597, + 1016.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1244.5173992699597, + 1019.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1244.5173992699597, + 1022.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1244.5173992699597, + 1025.7885534301788, + 41.685101183356366 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1244.5173992699597, + 1025.7885534301788, + 41.685101183356366 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1243.0173992699597, + 1028.3866296415322, + 41.685101183356366 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1240.0, + 1056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-19-40_101323875/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-19-40_101323875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7c722e51a13ddd4305cb4a8d340a5a94236d84e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-19-40_101323875/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1115.8162344882885, + -757.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1118.4143106996419, + -759.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1121.0123869109952, + -760.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1123.6104631223486, + -762.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1126.208539333702, + -763.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1128.8066155450554, + -765.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1131.4046917564087, + -766.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1134.002767967762, + -768.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1136.6008441791155, + -769.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1139.1989203904689, + -771.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1141.7969966018222, + -772.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1144.3950728131756, + -774.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1146.993149024529, + -775.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1149.5912252358823, + -777.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1152.1893014472357, + -778.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1154.787377658589, + -780.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1157.3854538699425, + -781.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1159.9835300812958, + -783.4961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1162.5816062926492, + -784.9961442688985, + 65.95889026455048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1165.1796825040026, + -786.4961442688985, + 65.95889026455048 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-2-26_199411898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-2-26_199411898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abb903abd84666c642544bda5934010b998f5e69 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-2-26_199411898/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1364.0376802859876, + 1702.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1366.635756497341, + 1701.454514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1369.2338327086943, + 1699.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1371.8319089200477, + 1698.454514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1374.429985131401, + 1696.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1377.0280613427544, + 1695.454514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1379.6261375541078, + 1693.954514327751, + 69.94071617684602 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1379.6261375541078, + 1693.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1382.6261375541078, + 1693.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1385.6261375541078, + 1693.954514327751, + 69.94071617684602 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1388.6261375541078, + 1693.954514327751, + 69.94071617684602 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1420.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-21-24_1370973813/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-21-24_1370973813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16ba5fdd0f604b9dd2384440e047ee07039cc1d1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-21-24_1370973813/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -756.597951209343, + -1110.4463836528141, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -758.097951209343, + -1113.0444598641675, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -759.597951209343, + -1115.6425360755209, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -761.097951209343, + -1118.2406122868742, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.597951209343, + -1120.8386884982276, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -764.097951209343, + -1123.436764709581, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.597951209343, + -1126.0348409209344, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.097951209343, + -1128.6329171322877, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.597951209343, + -1131.230993343641, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -770.097951209343, + -1133.8290695549945, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -771.597951209343, + -1136.4271457663478, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.097951209343, + -1139.0252219777012, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.597951209343, + -1141.6232981890546, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -776.097951209343, + -1144.221374400408, + 47.682471712195955 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -776.097951209343, + -1144.221374400408, + 47.682471712195955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.6960274206963, + -1145.721374400408, + 47.682471712195955 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-32-46_1412277685/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-32-46_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49d549a6a408150f7dec910a762f3f924d704d38 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-32-46_1412277685/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 563.629350947199, + -283.3594588101842, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 566.629350947199, + -283.3594588101842, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 569.629350947199, + -283.3594588101842, + 60.655017372065515 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 569.629350947199, + -283.3594588101842, + 60.655017372065515 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 569.629350947199, + -283.3594588101842, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 571.129350947199, + -280.7613825988309, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 572.629350947199, + -278.1633063874776, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 574.129350947199, + -275.56523017612426, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 575.629350947199, + -272.96715396477094, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 577.129350947199, + -270.3690777534176, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 578.629350947199, + -267.7710015420643, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 580.129350947199, + -265.172925330711, + 60.655017372065515 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 580.129350947199, + -265.172925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 582.7274271585522, + -263.672925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 585.3255033699056, + -262.172925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 587.923579581259, + -260.672925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 590.5216557926124, + -259.172925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 593.1197320039657, + -257.672925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 595.7178082153191, + -256.172925330711, + 60.655017372065515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 598.3158844266725, + -254.672925330711, + 60.655017372065515 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-35-44_1447395528/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-35-44_1447395528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f30642185a7476012aecc27813ce4c5a0d911273 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-35-44_1447395528/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1069.926487117443, + -47.28911214515958, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1072.926487117443, + -47.28911214515958, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1075.926487117443, + -47.28911214515958, + 57.69858017570233 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1075.926487117443, + -47.28911214515958, + 57.69858017570233 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1075.926487117443, + -47.28911214515958, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1077.426487117443, + -44.69103593380626, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1078.926487117443, + -42.092959722452946, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1080.426487117443, + -39.49488351109963, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1081.926487117443, + -36.896807299746314, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1083.426487117443, + -34.298731088393, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1084.926487117443, + -31.700654877039682, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1086.426487117443, + -29.102578665686366, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1087.926487117443, + -26.50450245433305, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1089.426487117443, + -23.906426242979734, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1090.926487117443, + -21.308350031626418, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1092.426487117443, + -18.710273820273102, + 57.69858017570233 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1092.426487117443, + -18.710273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1095.0245633287964, + -17.210273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1097.6226395401497, + -15.710273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1100.2207157515031, + -14.210273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1102.8187919628565, + -12.710273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1105.4168681742099, + -11.210273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1108.0149443855632, + -9.710273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1110.6130205969166, + -8.210273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1113.21109680827, + -6.710273820273102, + 57.69858017570233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1115.8091730196234, + -5.210273820273102, + 57.69858017570233 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-47-31_270754552/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-47-31_270754552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23379cb650420f6d503c5b33671f8abb2b6523e6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-47-31_270754552/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 214.93792096092142, + -619.0891025395066, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 217.93792096092142, + -619.0891025395066, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 220.93792096092142, + -619.0891025395066, + 56.37450099802852 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 220.93792096092142, + -619.0891025395066, + 56.37450099802852 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 220.93792096092142, + -619.0891025395066, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 222.43792096092142, + -616.4910263281533, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 223.93792096092142, + -613.8929501168, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.43792096092142, + -611.2948739054466, + 56.37450099802852 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.43792096092142, + -611.2948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 228.03599717227473, + -609.7948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.63407338362805, + -608.2948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 233.23214959498137, + -606.7948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 235.83022580633468, + -605.2948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 238.428302017688, + -603.7948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 241.0263782290413, + -602.2948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 243.62445444039463, + -600.7948739054466, + 56.37450099802852 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 243.62445444039463, + -600.7948739054466, + 56.37450099802852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 246.62445444039463, + -600.7948739054466, + 56.37450099802852 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 272.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-5-38_1691449122/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-5-38_1691449122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b21c2363304c4aabac88801d76f51a6601d310ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-5-38_1691449122/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -67.92226514252118, + -1431.6708604279017, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -69.42226514252118, + -1434.2689366392551, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -70.92226514252118, + -1436.8670128506085, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.42226514252118, + -1439.4650890619619, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -73.92226514252118, + -1442.0631652733152, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -75.42226514252118, + -1444.6612414846686, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.92226514252118, + -1447.259317696022, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -78.42226514252118, + -1449.8573939073754, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.92226514252118, + -1452.4554701187287, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.42226514252118, + -1455.053546330082, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -82.92226514252118, + -1457.6516225414355, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -84.42226514252118, + -1460.2496987527888, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.92226514252118, + -1462.8477749641422, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -87.42226514252118, + -1465.4458511754956, + 64.81425660439058 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.42226514252118, + -1465.4458511754956, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -87.42226514252118, + -1468.4458511754956, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -87.42226514252118, + -1471.4458511754956, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.42226514252118, + -1474.4458511754956, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -87.42226514252118, + -1477.4458511754956, + 64.81425660439058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -87.42226514252118, + -1480.4458511754956, + 64.81425660439058 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -1512.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-54-11_1916250774/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-54-11_1916250774/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..316f906244a3ad26381f1eced01753f46a048944 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-54-11_1916250774/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1196.5865983952274, + -338.2249231865461, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1198.0865983952274, + -340.8229993978994, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1199.5865983952274, + -343.42107560925274, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1201.0865983952274, + -346.01915182060606, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1202.5865983952274, + -348.61722803195937, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1204.0865983952274, + -351.2153042433127, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1205.5865983952274, + -353.813380454666, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1207.0865983952274, + -356.4114566660193, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1208.5865983952274, + -359.00953287737264, + 69.1285324621607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1210.0865983952274, + -361.60760908872595, + 69.1285324621607 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1228.0, + -400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-7-35_595311776/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-7-35_595311776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2dd664cafeff985ede6108bc0d2b272ddcc1e062 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-7-35_595311776/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1367.645909216771, + 1216.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1370.2439854281245, + 1215.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1372.8420616394778, + 1213.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1375.4401378508312, + 1212.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1378.0382140621846, + 1210.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1380.636290273538, + 1209.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1383.2343664848913, + 1207.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1385.8324426962447, + 1206.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1388.430518907598, + 1204.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1391.0285951189514, + 1203.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1393.6266713303048, + 1201.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1396.2247475416582, + 1200.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1398.8228237530116, + 1198.8613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1401.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1401.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1404.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1407.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1410.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1413.420899964365, + 1197.3613575303748, + 42.96597349225612 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-1_1815209933/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-1_1815209933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0b365fbe27cf7d4c1866b0ea8878262fd97970b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-1_1815209933/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1066.9243514959053, + 609.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1064.326275284552, + 607.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.7281990731985, + 606.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1059.1301228618452, + 604.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1056.5320466504918, + 603.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1053.9339704391384, + 601.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1051.335894227785, + 600.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1048.7378180164317, + 598.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1046.1397418050783, + 597.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1043.541665593725, + 595.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1040.9435893823716, + 594.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1038.3455131710182, + 592.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1035.7474369596648, + 591.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1033.1493607483114, + 589.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1030.551284536958, + 588.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1027.9532083256047, + 586.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1025.3551321142513, + 585.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1022.757055902898, + 583.6945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1020.1589796915446, + 582.1945881996393, + 40.67012351016238 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1020.1589796915446, + 582.1945881996393, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1018.6589796915446, + 579.596511988286, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1017.1589796915446, + 576.9984357769326, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1015.6589796915446, + 574.4003595655793, + 40.67012351016238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1014.1589796915446, + 571.8022833542259, + 40.67012351016238 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 992.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-17-1_1762924393/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-17-1_1762924393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1db0a6e61f3aa0de9c5bbb4748102e364b71e133 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-17-1_1762924393/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1772.264190883473, + 81.19562551802774, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1773.764190883473, + 83.79370172938106, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1775.264190883473, + 86.39177794073437, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1776.764190883473, + 88.98985415208769, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1778.264190883473, + 91.587930363441, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1779.764190883473, + 94.18600657479432, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1781.264190883473, + 96.78408278614764, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1782.764190883473, + 99.38215899750095, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1784.264190883473, + 101.98023520885427, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1785.764190883473, + 104.57831142020758, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1787.264190883473, + 107.1763876315609, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1788.764190883473, + 109.77446384291422, + 54.027292844366066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1790.264190883473, + 112.37254005426753, + 54.027292844366066 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1820.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-13_1450099355/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-13_1450099355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ea4ded095ef6ec2d5218598977a8eb7a5aebda7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-13_1450099355/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1676.2878007593897, + 1617.0193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1678.885876970743, + 1615.5193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1681.4839531820965, + 1614.0193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1684.0820293934498, + 1612.5193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1686.6801056048032, + 1611.0193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1689.2781818161566, + 1609.5193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1691.87625802751, + 1608.0193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1694.4743342388633, + 1606.5193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1697.0724104502167, + 1605.0193413214997, + 65.17395111393863 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1697.0724104502167, + 1605.0193413214997, + 65.17395111393863 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1698.5724104502167, + 1602.4212651101464, + 65.17395111393863 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1756.0, + 1560.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-2_1186994949/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-2_1186994949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5f3d8ef227032f107e1659ee94f2c95db3ce683 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-20-2_1186994949/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1664.8789966079642, + 499.56387979738486, + 42.60635622439304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1667.4770728193175, + 501.06387979738486, + 42.60635622439304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1670.075149030671, + 502.56387979738486, + 42.60635622439304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1672.6732252420243, + 504.06387979738486, + 42.60635622439304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1675.2713014533776, + 505.56387979738486, + 42.60635622439304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1677.869377664731, + 507.06387979738486, + 42.60635622439304 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + 544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-23-33_1567022181/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-23-33_1567022181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e784ef5dded781104387e444b95291d62f07bc7c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-23-33_1567022181/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1400.3150602297594, + -657.5888927942847, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1398.8150602297594, + -654.9908165829313, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1397.3150602297594, + -652.3927403715779, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1395.8150602297594, + -649.7946641602246, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1394.3150602297594, + -647.1965879488712, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1392.8150602297594, + -644.5985117375178, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1391.3150602297594, + -642.0004355261644, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1389.8150602297594, + -639.4023593148111, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1388.3150602297594, + -636.8042831034577, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1386.8150602297594, + -634.2062068921043, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1385.3150602297594, + -631.608130680751, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1383.8150602297594, + -629.0100544693976, + 62.025703638088096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1383.8150602297594, + -629.0100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1381.216984018406, + -627.5100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1378.6189078070527, + -626.0100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1376.0208315956993, + -624.5100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1373.422755384346, + -623.0100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1370.8246791729925, + -621.5100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1368.2266029616392, + -620.0100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1365.6285267502858, + -618.5100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1363.0304505389324, + -617.0100544693976, + 62.025703638088096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1360.432374327579, + -615.5100544693976, + 62.025703638088096 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1340.0, + -596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-26-54_592456289/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-26-54_592456289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68e0bbdf3e1e455e496965c2ad4bd84d42b1aa10 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-26-54_592456289/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -316.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -313.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -310.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -307.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -304.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -304.6520971794953, + -1601.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -302.05402096814197, + -1600.3482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -299.45594475678865, + -1598.8482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.85786854543534, + -1597.3482191361356, + 40.72442093989964 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -296.85786854543534, + -1597.3482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -293.85786854543534, + -1597.3482191361356, + 40.72442093989964 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -293.85786854543534, + -1597.3482191361356, + 40.72442093989964 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.85786854543534, + -1597.3482191361356, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.35786854543534, + -1594.7501429247823, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -290.85786854543534, + -1592.152066713429, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -289.35786854543534, + -1589.5539905020755, + 40.72442093989964 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -289.35786854543534, + -1589.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -289.35786854543534, + -1586.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.35786854543534, + -1583.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -289.35786854543534, + -1580.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -289.35786854543534, + -1577.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -289.35786854543534, + -1574.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -289.35786854543534, + -1571.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.35786854543534, + -1568.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -289.35786854543534, + -1565.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -289.35786854543534, + -1562.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -289.35786854543534, + -1559.5539905020755, + 40.72442093989964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -289.35786854543534, + -1556.5539905020755, + 40.72442093989964 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.0, + -1536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-16_2053232475/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-16_2053232475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c9871c946fe9c2d9319b3b3704c11d7db658808 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-16_2053232475/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1193.4504914979027, + 156.45354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1190.8524152865493, + 157.95354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1188.254339075196, + 159.45354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1185.6562628638426, + 160.95354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1183.0581866524892, + 162.45354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1180.4601104411358, + 163.95354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1177.8620342297825, + 165.45354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1175.263958018429, + 166.95354490225228, + 47.74867184656132 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1175.263958018429, + 166.95354490225228, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1173.763958018429, + 169.5516211136056, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1172.263958018429, + 172.1496973249589, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1170.763958018429, + 174.74777353631222, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1169.263958018429, + 177.34584974766554, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1167.763958018429, + 179.94392595901886, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1166.263958018429, + 182.54200217037217, + 47.74867184656132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1164.763958018429, + 185.1400783817255, + 47.74867184656132 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-52_403068011/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-52_403068011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5441ef56b1f5187d2794e7a4147de5ff8b9220e6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-30-52_403068011/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1296.9476589591939, + -729.9426290443662, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1298.4476589591939, + -732.5407052557196, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1299.9476589591939, + -735.1387814670729, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1301.4476589591939, + -737.7368576784263, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1302.9476589591939, + -740.3349338897797, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1304.4476589591939, + -742.933010101133, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1305.9476589591939, + -745.5310863124864, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1307.4476589591939, + -748.1291625238398, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1308.9476589591939, + -750.7272387351932, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1310.4476589591939, + -753.3253149465465, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1311.9476589591939, + -755.9233911578999, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1313.4476589591939, + -758.5214673692533, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1314.9476589591939, + -761.1195435806067, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1316.4476589591939, + -763.71761979196, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1317.9476589591939, + -766.3156960033134, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1319.4476589591939, + -768.9137722146668, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1320.9476589591939, + -771.5118484260202, + 52.783674058894 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1320.9476589591939, + -771.5118484260202, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1323.5457351705472, + -773.0118484260202, + 52.783674058894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1326.1438113819006, + -774.5118484260202, + 52.783674058894 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1340.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-29_1490549207/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-29_1490549207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..377756b2ed8754a277b91c31b5ff93793d84430f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-29_1490549207/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1030.5777887281374, + -1174.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1030.5777887281374, + -1177.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1030.5777887281374, + -1180.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1030.5777887281374, + -1183.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1030.5777887281374, + -1186.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1030.5777887281374, + -1189.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1030.5777887281374, + -1192.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1030.5777887281374, + -1195.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1030.5777887281374, + -1198.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1030.5777887281374, + -1201.0084374234805, + 44.767716455693886 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1030.5777887281374, + -1201.0084374234805, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1029.0777887281374, + -1203.6065136348338, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1027.5777887281374, + -1206.2045898461872, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1026.0777887281374, + -1208.8026660575406, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1024.5777887281374, + -1211.400742268894, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1023.0777887281374, + -1213.9988184802473, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1021.5777887281374, + -1216.5968946916007, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1020.0777887281374, + -1219.194970902954, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1018.5777887281374, + -1221.7930471143075, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1017.0777887281374, + -1224.3911233256608, + 44.767716455693886 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1017.0777887281374, + -1224.3911233256608, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1017.0777887281374, + -1227.3911233256608, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1017.0777887281374, + -1230.3911233256608, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1017.0777887281374, + -1233.3911233256608, + 44.767716455693886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1017.0777887281374, + -1236.3911233256608, + 44.767716455693886 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1016.0, + -1248.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-36_1926411641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-36_1926411641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef7e34cec18aed36957873b16a9df54a011b04c8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-36_1926411641/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1369.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1366.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1363.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1360.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1357.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1354.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1351.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1348.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1348.6943258211916, + 1564.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1346.0962496098382, + 1565.929522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1343.4981733984848, + 1567.429522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1340.9000971871315, + 1568.929522272112, + 60.43793025703014 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1338.302020975778, + 1570.429522272112, + 60.43793025703014 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1304.0, + 1580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-48_1812718902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-48_1812718902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae573fc3c4655e6c7e401e026cafa43905996689 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-41-48_1812718902/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1481.9218566870506, + -619.4301315330287, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1483.4218566870506, + -622.0282077443819, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1484.9218566870506, + -624.6262839557353, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1486.4218566870506, + -627.2243601670887, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1487.9218566870506, + -629.822436378442, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1489.4218566870506, + -632.4205125897954, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1490.9218566870506, + -635.0185888011488, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1492.4218566870506, + -637.6166650125022, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1493.9218566870506, + -640.2147412238555, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1495.4218566870506, + -642.8128174352089, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1496.9218566870506, + -645.4108936465623, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1498.4218566870506, + -648.0089698579156, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1499.9218566870506, + -650.607046069269, + 66.58197658569188 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1501.4218566870506, + -653.2051222806224, + 66.58197658569188 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1520.0, + -696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-15_895873480/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-15_895873480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1eb402cad06b0daf78ffe0fd08907cbcf84b6788 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-15_895873480/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1767.9319916172221, + 608.8515605370261, + 50.05383788153398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1766.4319916172221, + 606.2534843256728, + 50.05383788153398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1764.9319916172221, + 603.6554081143195, + 50.05383788153398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1763.4319916172221, + 601.0573319029661, + 50.05383788153398 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + 544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-55_198628789/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-55_198628789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f849b2c888edf20bd667575c16490634cce2a225 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-55_198628789/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 705.8176665464592, + -958.2926572239088, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 705.8176665464592, + -955.2926572239088, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 705.8176665464592, + -952.2926572239088, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 705.8176665464592, + -949.2926572239088, + 66.21034199016269 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 705.8176665464592, + -949.2926572239088, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 704.3176665464592, + -946.6945810125555, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 702.8176665464592, + -944.0965048012022, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 701.3176665464592, + -941.4984285898488, + 66.21034199016269 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 701.3176665464592, + -941.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 701.3176665464592, + -938.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 701.3176665464592, + -935.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 701.3176665464592, + -932.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 701.3176665464592, + -929.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 701.3176665464592, + -926.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 701.3176665464592, + -923.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 701.3176665464592, + -920.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 701.3176665464592, + -917.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 701.3176665464592, + -914.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 701.3176665464592, + -911.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 701.3176665464592, + -908.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 701.3176665464592, + -905.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 701.3176665464592, + -902.4984285898488, + 66.21034199016269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 701.3176665464592, + -899.4984285898488, + 66.21034199016269 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 700.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-20_461152493/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-20_461152493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24970e0521524ca9a016c676addb2f86a2b6f0da --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-20_461152493/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -838.1198002886231, + -1009.698358944193, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -839.6198002886231, + -1012.2964351555463, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -841.1198002886231, + -1014.8945113668997, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -842.6198002886231, + -1017.492587578253, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -844.1198002886231, + -1020.0906637896064, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -845.6198002886231, + -1022.6887400009598, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -847.1198002886231, + -1025.2868162123132, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -848.6198002886231, + -1027.8848924236665, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -850.1198002886231, + -1030.48296863502, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -851.6198002886231, + -1033.0810448463733, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -853.1198002886231, + -1035.6791210577267, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -854.6198002886231, + -1038.27719726908, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -856.1198002886231, + -1040.8752734804334, + 67.89809469323762 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -856.1198002886231, + -1040.8752734804334, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -858.7178764999765, + -1042.3752734804334, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -861.3159527113298, + -1043.8752734804334, + 67.89809469323762 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -863.9140289226832, + -1045.3752734804334, + 67.89809469323762 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -888.0, + -1076.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-50-58_1690492373/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-50-58_1690492373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff2830b65a1f46d01644cb2f9d9324ba33060f5b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-50-58_1690492373/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1431.9816385724866, + 802.3429741549987, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1430.4816385724866, + 799.7448979436454, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1428.9816385724866, + 797.146821732292, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1427.4816385724866, + 794.5487455209386, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1425.9816385724866, + 791.9506693095852, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1424.4816385724866, + 789.3525930982319, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1422.9816385724866, + 786.7545168868785, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1421.4816385724866, + 784.1564406755251, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1419.9816385724866, + 781.5583644641717, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1418.4816385724866, + 778.9602882528184, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1416.9816385724866, + 776.362212041465, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1415.4816385724866, + 773.7641358301116, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1413.9816385724866, + 771.1660596187583, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1412.4816385724866, + 768.5679834074049, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1410.9816385724866, + 765.9699071960515, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1409.4816385724866, + 763.3718309846981, + 44.32565586641869 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1409.4816385724866, + 763.3718309846981, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1409.4816385724866, + 760.3718309846981, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1409.4816385724866, + 757.3718309846981, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1409.4816385724866, + 754.3718309846981, + 44.32565586641869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1409.4816385724866, + 751.3718309846981, + 44.32565586641869 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-54-32_1987519915/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-54-32_1987519915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd49c8bd2e7a73c34744d452b1b9fcec34fc7adc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-54-32_1987519915/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1069.9821213704504, + 1230.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1067.384045159097, + 1231.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1064.7859689477436, + 1233.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1062.1878927363903, + 1234.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1059.589816525037, + 1236.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1056.9917403136835, + 1237.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1054.3936641023301, + 1239.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1051.7955878909768, + 1240.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1049.1975116796234, + 1242.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1046.59943546827, + 1243.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1044.0013592569167, + 1245.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1041.4032830455633, + 1246.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1038.80520683421, + 1248.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1036.2071306228565, + 1249.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1033.6090544115032, + 1251.1877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1031.0109782001498, + 1252.6877162054177, + 42.57048459780292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1028.4129019887964, + 1254.1877162054177, + 42.57048459780292 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -992.0, + 1280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-0_1866355856/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-0_1866355856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c91289efc067b5107d8bdac4e32a19cf6a97022 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-0_1866355856/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1460.58984589157, + -928.4056922779481, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1462.08984589157, + -925.8076160665948, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1463.58984589157, + -923.2095398552415, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1465.08984589157, + -920.6114636438881, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1466.58984589157, + -918.0133874325347, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1468.08984589157, + -915.4153112211814, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1469.58984589157, + -912.817235009828, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1471.08984589157, + -910.2191587984746, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1472.58984589157, + -907.6210825871212, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1474.08984589157, + -905.0230063757679, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1475.58984589157, + -902.4249301644145, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1477.08984589157, + -899.8268539530611, + 59.12985172274409 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1477.08984589157, + -899.8268539530611, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1479.6879221029233, + -898.3268539530611, + 59.12985172274409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1482.2859983142766, + -896.8268539530611, + 59.12985172274409 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-1-8_2002992734/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-1-8_2002992734/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21d46a9686dedfba33aa81538eefcc234980e342 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-1-8_2002992734/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1201.6148626260165, + 1782.8620798832535, + 46.956531949912105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1201.6148626260165, + 1785.8620798832535, + 46.956531949912105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1201.6148626260165, + 1788.8620798832535, + 46.956531949912105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1201.6148626260165, + 1791.8620798832535, + 46.956531949912105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1201.6148626260165, + 1794.8620798832535, + 46.956531949912105 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1201.6148626260165, + 1794.8620798832535, + 46.956531949912105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1200.1148626260165, + 1797.4601560946069, + 46.956531949912105 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-17-17_228217069/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-17-17_228217069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79268845c83095524c83524bb2b769eae8df0597 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-17-17_228217069/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 903.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 906.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 909.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 912.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 915.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 915.4711926545014, + 383.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 918.0692688658546, + 384.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 920.667345077208, + 386.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 923.2654212885614, + 387.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 925.8634974999147, + 389.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 928.4615737112681, + 390.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 931.0596499226215, + 392.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 933.6577261339748, + 393.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 936.2558023453282, + 395.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 938.8538785566816, + 396.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 941.451954768035, + 398.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 944.0500309793883, + 399.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 946.6481071907417, + 401.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 949.2461834020951, + 402.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 951.8442596134485, + 404.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 954.4423358248018, + 405.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 957.0404120361552, + 407.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 959.6384882475086, + 408.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 962.236564458862, + 410.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 964.8346406702153, + 411.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 967.4327168815687, + 413.25681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 970.0307930929221, + 414.75681724701735, + 62.34150702059881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 972.6288693042754, + 416.25681724701735, + 62.34150702059881 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 988.0, + 424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-18-19_1947867422/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-18-19_1947867422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e437a8aecb28c10d91d5107df2ac6bb486754b09 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-18-19_1947867422/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1074.571588973545, + 338.09504805514445, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1076.071588973545, + 340.69312426649776, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1077.571588973545, + 343.2912004778511, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1079.071588973545, + 345.8892766892044, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1080.571588973545, + 348.4873529005577, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1082.071588973545, + 351.085429111911, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1083.571588973545, + 353.68350532326434, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1085.071588973545, + 356.28158153461766, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1086.571588973545, + 358.879657745971, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1088.071588973545, + 361.4777339573243, + 48.11193608346838 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1088.071588973545, + 361.4777339573243, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1088.071588973545, + 364.4777339573243, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1088.071588973545, + 367.4777339573243, + 48.11193608346838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1088.071588973545, + 370.4777339573243, + 48.11193608346838 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 396.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-2-48_332702450/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-2-48_332702450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..064d7a65ed738aa88034e7ab3090d43066d7f186 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-2-48_332702450/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 716.5399375744222, + -1732.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 713.9418613630689, + -1730.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 711.3437851517156, + -1729.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 708.7457089403622, + -1727.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 706.1476327290088, + -1726.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 703.5495565176554, + -1724.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 700.9514803063021, + -1723.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 698.3534040949487, + -1721.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 695.7553278835953, + -1720.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 693.157251672242, + -1718.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 690.5591754608886, + -1717.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 687.9610992495352, + -1715.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 685.3630230381818, + -1714.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 682.7649468268285, + -1712.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 680.1668706154751, + -1711.0796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 677.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 677.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 674.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 671.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 668.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 665.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 662.5687944041217, + -1709.5796508823187, + 49.864757174988135 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 624.0, + -1696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-35_99885196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-35_99885196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fa9cd3409a07101086098ddea6bdc4ff7e3eeb5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-35_99885196/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -124.81759605681721, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -127.81759605681721, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -130.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -133.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -136.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -139.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -142.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -148.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -151.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -154.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -160.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -163.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -166.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -169.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -172.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -178.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -178.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -178.8175960568172, + 290.0633315197495, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -180.3175960568172, + 287.4652553083962, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -181.8175960568172, + 284.8671790970429, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -183.3175960568172, + 282.26910288568956, + 57.51000594682565 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -183.3175960568172, + 282.26910288568956, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -185.9156722681705, + 280.76910288568956, + 57.51000594682565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -188.51374847952383, + 279.26910288568956, + 57.51000594682565 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -216.0, + 276.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-23-33_79065186/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-23-33_79065186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..475f21c9388865cf7f5b9931c8ecce5e84f2da5e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-23-33_79065186/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1325.4763532485874, + -424.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1325.4763532485874, + -427.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1325.4763532485874, + -430.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1325.4763532485874, + -433.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1325.4763532485874, + -436.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1325.4763532485874, + -439.3901299022622, + 41.38758795642741 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1325.4763532485874, + -439.3901299022622, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1326.9763532485874, + -441.9882061136155, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1328.4763532485874, + -444.5862823249688, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1329.9763532485874, + -447.1843585363221, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1331.4763532485874, + -449.78243474767544, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1332.9763532485874, + -452.38051095902875, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1334.4763532485874, + -454.97858717038207, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1335.9763532485874, + -457.5766633817354, + 41.38758795642741 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1335.9763532485874, + -457.5766633817354, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1338.5744294599408, + -459.0766633817354, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1341.1725056712942, + -460.5766633817354, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1343.7705818826475, + -462.0766633817354, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1346.368658094001, + -463.5766633817354, + 41.38758795642741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1348.9667343053543, + -465.0766633817354, + 41.38758795642741 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1368.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-26-46_844169939/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-26-46_844169939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfd049b44eab6abcf7bd97131a95500214bef505 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-26-46_844169939/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1224.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1221.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1218.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1215.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1212.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1209.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1206.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1203.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1200.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1197.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1194.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1191.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1188.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1185.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1182.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1179.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1176.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1173.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1170.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1167.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1164.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1161.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1161.7688353765009, + -1779.9051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1159.1707591651475, + -1781.4051320475999, + 46.0424343284454 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1156.5726829537941, + -1782.9051320475999, + 46.0424343284454 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -1784.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-28-43_1650994571/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-28-43_1650994571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba3ee9e763d4495e016b0e2f9970d0040e51abc4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-28-43_1650994571/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 458.80634717951926, + 816.7322580893109, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 457.30634717951926, + 814.1341818779576, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.80634717951926, + 811.5361056666043, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 454.30634717951926, + 808.9380294552509, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 452.80634717951926, + 806.3399532438975, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 451.30634717951926, + 803.7418770325442, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 449.80634717951926, + 801.1438008211908, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 448.30634717951926, + 798.5457246098374, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 446.80634717951926, + 795.947648398484, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 445.30634717951926, + 793.3495721871307, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 443.80634717951926, + 790.7514959757773, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 442.30634717951926, + 788.1534197644239, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 440.80634717951926, + 785.5553435530705, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 439.30634717951926, + 782.9572673417172, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 437.80634717951926, + 780.3591911303638, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 436.30634717951926, + 777.7611149190104, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 434.80634717951926, + 775.163038707657, + 49.439684241663976 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.80634717951926, + 775.163038707657, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 432.20827096816595, + 773.663038707657, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 429.61019475681263, + 772.163038707657, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 427.0121185454593, + 770.663038707657, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 424.414042334106, + 769.163038707657, + 49.439684241663976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.8159661227527, + 767.663038707657, + 49.439684241663976 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-29-16_848934683/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-29-16_848934683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..848b97966884d89162240857a8af1925b80c1645 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-29-16_848934683/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 472.8256391026889, + 852.5601693409952, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 474.3256391026889, + 849.962093129642, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 475.8256391026889, + 847.3640169182886, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 477.3256391026889, + 844.7659407069352, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 478.8256391026889, + 842.1678644955819, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 480.3256391026889, + 839.5697882842285, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 481.8256391026889, + 836.9717120728751, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 483.3256391026889, + 834.3736358615217, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 484.8256391026889, + 831.7755596501684, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 486.3256391026889, + 829.177483438815, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 487.8256391026889, + 826.5794072274616, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 489.3256391026889, + 823.9813310161082, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.8256391026889, + 821.3832548047549, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.3256391026889, + 818.7851785934015, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.8256391026889, + 816.1871023820481, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 495.3256391026889, + 813.5890261706948, + 51.89003488974447 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 495.3256391026889, + 813.5890261706948, + 51.89003488974447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 495.3256391026889, + 810.5890261706948, + 51.89003488974447 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 516.0, + 768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-32-52_118993446/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-32-52_118993446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4e6081c8f0e1859f0a9c5f880a12a6fdc894e22 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-32-52_118993446/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 34.6845812846102, + -511.1610771419737, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 36.1845812846102, + -508.5630009306204, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 37.6845812846102, + -505.96492471926706, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 39.1845812846102, + -503.36684850791374, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 40.6845812846102, + -500.7687722965604, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.1845812846102, + -498.1706960852071, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.6845812846102, + -495.5726198738538, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.1845812846102, + -492.9745436625005, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 46.6845812846102, + -490.37646745114716, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 48.1845812846102, + -487.77839123979385, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 49.6845812846102, + -485.18031502844053, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.1845812846102, + -482.5822388170872, + 64.75267911985652 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 51.1845812846102, + -482.5822388170872, + 64.75267911985652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 51.1845812846102, + -479.5822388170872, + 64.75267911985652 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-38-23_942581876/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-38-23_942581876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2c6e72b55d78712ef558b0d944693502ad945ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-38-23_942581876/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1787.170311263671, + -999.2079602250986, + 45.373322163811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1790.170311263671, + -999.2079602250986, + 45.373322163811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1793.170311263671, + -999.2079602250986, + 45.373322163811 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1864.0, + -992.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-4-54_573666704/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-4-54_573666704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3faad83dc7663bf4b81ceb491e78ded20bd4018 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-4-54_573666704/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1420.5743978638639, + 619.8051325539151, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1422.0743978638639, + 617.2070563425618, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1423.5743978638639, + 614.6089801312085, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1425.0743978638639, + 612.0109039198551, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1426.5743978638639, + 609.4128277085017, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1428.0743978638639, + 606.8147514971483, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1429.5743978638639, + 604.216675285795, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1431.0743978638639, + 601.6185990744416, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1432.5743978638639, + 599.0205228630882, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1434.0743978638639, + 596.4224466517348, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.5743978638639, + 593.8243704403815, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.0743978638639, + 591.2262942290281, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1438.5743978638639, + 588.6282180176747, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1440.0743978638639, + 586.0301418063214, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1441.5743978638639, + 583.432065594968, + 58.521609699385124 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1441.5743978638639, + 583.432065594968, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1441.5743978638639, + 580.432065594968, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1441.5743978638639, + 577.432065594968, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1441.5743978638639, + 574.432065594968, + 58.521609699385124 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1441.5743978638639, + 571.432065594968, + 58.521609699385124 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-40-51_1170132540/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-40-51_1170132540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0584d7ead5422697961ed1d1d11f962e34d17ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-40-51_1170132540/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1210.0553248572037, + -810.8263792849941, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1208.5553248572037, + -813.4244554963475, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1207.0553248572037, + -816.0225317077009, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1205.5553248572037, + -818.6206079190542, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1204.0553248572037, + -821.2186841304076, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1202.5553248572037, + -823.816760341761, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1201.0553248572037, + -826.4148365531144, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1199.5553248572037, + -829.0129127644677, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1198.0553248572037, + -831.6109889758211, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1196.5553248572037, + -834.2090651871745, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1195.0553248572037, + -836.8071413985278, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1193.5553248572037, + -839.4052176098812, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1192.0553248572037, + -842.0032938212346, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1190.5553248572037, + -844.601370032588, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1189.0553248572037, + -847.1994462439413, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1187.5553248572037, + -849.7975224552947, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1186.0553248572037, + -852.3955986666481, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1184.5553248572037, + -854.9936748780015, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1183.0553248572037, + -857.5917510893548, + 49.37137512397588 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1183.0553248572037, + -857.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1183.0553248572037, + -860.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1183.0553248572037, + -863.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1183.0553248572037, + -866.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1183.0553248572037, + -869.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1183.0553248572037, + -872.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1183.0553248572037, + -875.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1183.0553248572037, + -878.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1183.0553248572037, + -881.5917510893548, + 49.37137512397588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1183.0553248572037, + -884.5917510893548, + 49.37137512397588 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1180.0, + -896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-48_1316953165/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-48_1316953165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7803515a0526170c3d432afbea00d04be7f6edf1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-48_1316953165/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1752.4852934955532, + 534.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1755.0833697069065, + 535.5042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1757.68144591826, + 537.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1760.2795221296133, + 538.5042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1762.8775983409666, + 540.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1765.47567455232, + 541.5042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1768.0737507636734, + 543.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1770.6718269750268, + 544.5042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1773.2699031863801, + 546.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1775.8679793977335, + 547.5042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1778.4660556090869, + 549.0042139257926, + 51.70378019605021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1781.0641318204403, + 550.5042139257926, + 51.70378019605021 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1816.0, + 568.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-4_689442530/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-4_689442530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db8d2ab5638a63a677cecb2b866dee14ea7f2026 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-46-4_689442530/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1512.9260987859188, + -873.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1515.5241749972722, + -875.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1518.1222512086256, + -876.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1520.720327419979, + -878.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1523.3184036313323, + -879.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1525.9164798426857, + -881.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1528.514556054039, + -882.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1531.1126322653924, + -884.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1533.7107084767458, + -885.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1536.3087846880992, + -887.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1538.9068608994526, + -888.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1541.504937110806, + -890.2556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1544.1030133221593, + -891.7556786682916, + 57.78450607355944 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1544.1030133221593, + -891.7556786682916, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1545.6030133221593, + -894.3537548796448, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1547.1030133221593, + -896.9518310909982, + 57.78450607355944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1548.6030133221593, + -899.5499073023516, + 57.78450607355944 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-49-28_1029621931/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-49-28_1029621931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..076cea950c0cacbab718277983e16f28e00c71bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-49-28_1029621931/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.104893361967, + -222.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.104893361967, + -219.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 92.104893361967, + -216.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.104893361967, + -213.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.104893361967, + -210.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.104893361967, + -207.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 92.104893361967, + -204.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.104893361967, + -201.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 92.104893361967, + -198.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 92.104893361967, + -195.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.104893361967, + -192.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 92.104893361967, + -189.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.104893361967, + -186.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 92.104893361967, + -183.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.104893361967, + -180.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 92.104893361967, + -177.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 92.104893361967, + -174.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 92.104893361967, + -171.17139891594346, + 43.58465774843154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 92.104893361967, + -168.17139891594346, + 43.58465774843154 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-21_1623804486/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-21_1623804486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21da75259f5c990af928f28a96cd781e82b189bf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-21_1623804486/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -671.1333298970388, + -1543.3939089207718, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -669.6333298970388, + -1540.7958327094184, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -668.1333298970388, + -1538.197756498065, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -666.6333298970388, + -1535.5996802867116, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -665.1333298970388, + -1533.0016040753583, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -663.6333298970388, + -1530.403527864005, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -662.1333298970388, + -1527.8054516526515, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -660.6333298970388, + -1525.2073754412982, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.1333298970388, + -1522.6092992299448, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -657.6333298970388, + -1520.0112230185914, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -656.1333298970388, + -1517.413146807238, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -654.6333298970388, + -1514.8150705958847, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -653.1333298970388, + -1512.2169943845313, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -651.6333298970388, + -1509.618918173178, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.1333298970388, + -1507.0208419618245, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -648.6333298970388, + -1504.4227657504712, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -647.1333298970388, + -1501.8246895391178, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -645.6333298970388, + -1499.2266133277644, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -644.1333298970388, + -1496.628537116411, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -642.6333298970388, + -1494.0304609050577, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -641.1333298970388, + -1491.4323846937043, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -639.6333298970388, + -1488.834308482351, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.1333298970388, + -1486.2362322709976, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -636.6333298970388, + -1483.6381560596442, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -635.1333298970388, + -1481.0400798482908, + 55.71057089790234 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -635.1333298970388, + -1481.0400798482908, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -632.5352536856856, + -1479.5400798482908, + 55.71057089790234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -629.9371774743322, + -1478.0400798482908, + 55.71057089790234 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-42_110993018/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-42_110993018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a9ea9a4ff48e64e197acf8388f37c82361ab301 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-54-42_110993018/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1285.651558656974, + 490.096966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1288.2496348683273, + 488.596966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1290.8477110796807, + 487.096966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1293.445787291034, + 485.596966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1296.0438635023875, + 484.096966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1298.6419397137408, + 482.596966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1301.2400159250942, + 481.096966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1303.8380921364476, + 479.596966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1306.436168347801, + 478.096966201498, + 40.63980561146441 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1306.436168347801, + 478.096966201498, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1307.936168347801, + 475.4988899901447, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1309.436168347801, + 472.90081377879136, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1310.936168347801, + 470.30273756743804, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1312.436168347801, + 467.7046613560847, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1313.936168347801, + 465.1065851447314, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1315.436168347801, + 462.5085089333781, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1316.936168347801, + 459.9104327220248, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1318.436168347801, + 457.31235651067146, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1319.936168347801, + 454.71428029931815, + 40.63980561146441 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1321.436168347801, + 452.11620408796483, + 40.63980561146441 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + 432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-8-26_129834447/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-8-26_129834447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa7b8e393ca2b78bf436f215c64d4085dd8598b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-8-26_129834447/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 649.0723862097, + 1759.641146860769, + 53.889881006095735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 646.4743099983466, + 1761.141146860769, + 53.889881006095735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 643.8762337869932, + 1762.641146860769, + 53.889881006095735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 641.2781575756399, + 1764.141146860769, + 53.889881006095735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 638.6800813642865, + 1765.641146860769, + 53.889881006095735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 636.0820051529331, + 1767.141146860769, + 53.889881006095735 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + 1780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-15-27_100603786/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-15-27_100603786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd89231502261b3696efa6e634659651b2720caa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-15-27_100603786/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1667.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1664.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1661.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1658.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1655.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1652.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1649.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1646.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1643.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1640.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1637.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1634.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1631.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1631.1285218174712, + -404.5358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1628.5304456061178, + -406.0358526580398, + 67.83155162838813 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1625.9323693947645, + -407.5358526580398, + 67.83155162838813 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-16-55_1793256508/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-16-55_1793256508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eb3487b621aa9d5e6ed836330913fdcfddd87d2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-16-55_1793256508/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 446.88709076043085, + -557.9597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 444.28901454907754, + -556.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.6909383377242, + -554.9597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 439.0928621263709, + -553.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.4947859150176, + -551.9597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 433.89670970366427, + -550.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 431.29863349231096, + -548.9597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 428.70055728095764, + -547.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 426.1024810696043, + -545.9597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 423.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 420.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 417.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 411.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 408.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 405.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 402.504404858251, + -544.4597001786883, + 47.005718319823 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 380.0, + -540.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-28-28_313823293/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-28-28_313823293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1418d6669142f7bb62f02eb613018a94061908b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-28-28_313823293/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1523.5949672459572, + -1134.9880718474412, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1525.0949672459572, + -1137.5861480587946, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1526.5949672459572, + -1140.184224270148, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1528.0949672459572, + -1142.7823004815014, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1529.5949672459572, + -1145.3803766928547, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1531.0949672459572, + -1147.978452904208, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.5949672459572, + -1150.5765291155615, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.0949672459572, + -1153.1746053269148, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1535.5949672459572, + -1155.7726815382682, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1537.0949672459572, + -1158.3707577496216, + 56.475955488839055 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1537.0949672459572, + -1158.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1539.6930434573105, + -1159.8707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1542.291119668664, + -1161.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1544.8891958800173, + -1162.8707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1547.4872720913706, + -1164.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1550.085348302724, + -1165.8707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1552.6834245140774, + -1167.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1555.2815007254308, + -1168.8707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1557.8795769367841, + -1170.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1560.4776531481375, + -1171.8707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1563.0757293594909, + -1173.3707577496216, + 56.475955488839055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1565.6738055708443, + -1174.8707577496216, + 56.475955488839055 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -1192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-34_129183332/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-34_129183332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f591b23bfc41542037991bb91db77bd3fce67634 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-34_129183332/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1113.9597355795086, + 1019.592720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1111.3616593681552, + 1018.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1108.7635831568018, + 1016.592720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1106.1655069454484, + 1015.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1103.567430734095, + 1013.592720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1100.9693545227417, + 1012.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1098.3712783113883, + 1010.592720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1095.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1095.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1092.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1089.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1086.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1083.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1080.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1077.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1074.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1074.773202100035, + 1009.092720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1072.1751258886816, + 1007.592720649558, + 59.12947449374984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1069.5770496773282, + 1006.092720649558, + 59.12947449374984 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1044.0, + 996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-13_551008693/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-13_551008693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e6c71d82523da1a5aae7d98b00a65e36ef0c0b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-13_551008693/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 700.9186752109412, + 67.9126861403135, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 703.9186752109412, + 67.9126861403135, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 706.9186752109412, + 67.9126861403135, + 47.3381440208914 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 706.9186752109412, + 67.9126861403135, + 47.3381440208914 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 706.9186752109412, + 67.9126861403135, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 708.4186752109412, + 70.51076235166681, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 709.9186752109412, + 73.10883856302013, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 711.4186752109412, + 75.70691477437344, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 712.9186752109412, + 78.30499098572676, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 714.4186752109412, + 80.90306719708008, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 715.9186752109412, + 83.50114340843339, + 47.3381440208914 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 715.9186752109412, + 83.50114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 718.5167514222944, + 85.00114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 721.1148276336478, + 86.50114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 723.7129038450012, + 88.00114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 726.3109800563545, + 89.50114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 728.9090562677079, + 91.00114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 731.5071324790613, + 92.50114340843339, + 47.3381440208914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 734.1052086904147, + 94.00114340843339, + 47.3381440208914 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-4-33_1085206797/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-4-33_1085206797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02ebd5e9e51edc2ae87bce07ddb2518696f0eb6d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-4-33_1085206797/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1166.3006049701437, + -850.1449046344272, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1164.8006049701437, + -847.546828423074, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1163.3006049701437, + -844.9487522117206, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1161.8006049701437, + -842.3506760003672, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1160.3006049701437, + -839.7525997890139, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1158.8006049701437, + -837.1545235776605, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1157.3006049701437, + -834.5564473663071, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1155.8006049701437, + -831.9583711549537, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1154.3006049701437, + -829.3602949436004, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1152.8006049701437, + -826.762218732247, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1151.3006049701437, + -824.1641425208936, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1149.8006049701437, + -821.5660663095402, + 51.029318189892294 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1149.8006049701437, + -821.5660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1147.2025287587903, + -820.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1144.604452547437, + -818.5660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1142.0063763360836, + -817.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1139.4083001247302, + -815.5660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1136.8102239133768, + -814.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1134.2121477020235, + -812.5660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1131.61407149067, + -811.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1129.0159952793167, + -809.5660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1126.4179190679633, + -808.0660663095402, + 51.029318189892294 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1126.4179190679633, + -808.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1123.4179190679633, + -808.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1120.4179190679633, + -808.0660663095402, + 51.029318189892294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1117.4179190679633, + -808.0660663095402, + 51.029318189892294 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-44-27_1817049764/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-44-27_1817049764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd8dd3d4de9cc5c4ef79b6c56b31603e5a153dde --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-44-27_1817049764/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3.8144816674412994, + 1672.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1.2164054560879833, + 1674.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1.3816707552653327, + 1675.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -3.9797469666186487, + 1677.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -6.577823177971965, + 1678.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.17589938932528, + 1680.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -11.773975600678597, + 1681.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -14.372051812031913, + 1683.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -16.97012802338523, + 1684.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -19.568204234738545, + 1686.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -22.16628044609186, + 1687.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -24.764356657445177, + 1689.261998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -27.362432868798493, + 1690.761998025851, + 40.363162190369984 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -27.362432868798493, + 1690.761998025851, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -28.862432868798493, + 1693.3600742372043, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -30.362432868798493, + 1695.9581504485577, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -31.862432868798493, + 1698.556226659911, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -33.36243286879849, + 1701.1543028712645, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -34.86243286879849, + 1703.7523790826178, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -36.36243286879849, + 1706.3504552939712, + 40.363162190369984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -37.86243286879849, + 1708.9485315053246, + 40.363162190369984 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + 1728.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-48-57_989492335/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-48-57_989492335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20b21a9a99c229f14a27e842fd13017cf7f50d61 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-48-57_989492335/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1770.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1773.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1776.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1779.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1782.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1785.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1788.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1791.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1794.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1797.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1800.0147846610303, + 1509.399111868195, + 41.61368474060722 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1840.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-54-48_192433878/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-54-48_192433878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b2ec9a6741685c97f64a7f60c9b1cb62a01f0ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-54-48_192433878/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1767.068047615652, + 843.1863135329339, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1768.568047615652, + 840.5882373215807, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1770.068047615652, + 837.9901611102273, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1771.568047615652, + 835.3920848988739, + 54.30026580867303 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1771.568047615652, + 835.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1771.568047615652, + 832.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1771.568047615652, + 829.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1771.568047615652, + 826.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1771.568047615652, + 823.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1771.568047615652, + 820.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1771.568047615652, + 817.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1771.568047615652, + 814.3920848988739, + 54.30026580867303 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1771.568047615652, + 814.3920848988739, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1773.068047615652, + 811.7940086875205, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1774.568047615652, + 809.1959324761672, + 54.30026580867303 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1774.568047615652, + 809.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1774.568047615652, + 806.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1774.568047615652, + 803.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1774.568047615652, + 800.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1774.568047615652, + 797.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1774.568047615652, + 794.1959324761672, + 54.30026580867303 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1774.568047615652, + 794.1959324761672, + 54.30026580867303 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1774.568047615652, + 794.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1777.1661238270053, + 792.6959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1779.7642000383587, + 791.1959324761672, + 54.30026580867303 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1779.7642000383587, + 791.1959324761672, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1781.2642000383587, + 788.5978562648138, + 54.30026580867303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1782.7642000383587, + 785.9997800534604, + 54.30026580867303 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1792.0, + 760.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-10-55_547772603/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-10-55_547772603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e1218004ff238fbcea9ecb218ed2ef94e32f1f3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-10-55_547772603/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1147.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1144.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1141.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1138.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1135.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1135.5379217549114, + -1115.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1132.939845543558, + -1113.5141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1130.3417693322046, + -1112.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1127.7436931208513, + -1110.5141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1125.145616909498, + -1109.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1122.5475406981445, + -1107.5141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1119.9494644867912, + -1106.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1117.3513882754378, + -1104.5141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1114.7533120640844, + -1103.0141190246225, + 61.76408182298876 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1112.155235852731, + -1101.5141190246225, + 61.76408182298876 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-18-18_421101832/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-18-18_421101832/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edd0f9da2c0f97d2ac18767c4fcc657804fef396 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-18-18_421101832/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1431.1524301904724, + 86.44336969640982, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1429.6524301904724, + 83.8452934850565, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1428.1524301904724, + 81.24721727370319, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1426.6524301904724, + 78.64914106234987, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1425.1524301904724, + 76.05106485099655, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1423.6524301904724, + 73.45298863964324, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1422.1524301904724, + 70.85491242828992, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1420.6524301904724, + 68.2568362169366, + 67.89785259325669 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1420.6524301904724, + 68.2568362169366, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1418.054353979119, + 66.7568362169366, + 67.89785259325669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1415.4562777677656, + 65.2568362169366, + 67.89785259325669 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1392.0, + 36.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-2-26_1455371254/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-2-26_1455371254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9ce440b066550781715d92a48e9649b0eb4c773 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-2-26_1455371254/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1199.0549096968452, + -1641.2698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1196.4568334854919, + -1639.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1193.8587572741385, + -1638.2698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1191.2606810627851, + -1636.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1188.6626048514318, + -1635.2698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1186.0645286400784, + -1633.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1183.466452428725, + -1632.2698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1180.8683762173716, + -1630.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1178.2703000060183, + -1629.2698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1175.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1175.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1172.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1169.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1166.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1163.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1160.672223794665, + -1627.7698043628523, + 50.18255136334388 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -1620.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-21-37_438485374/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-21-37_438485374/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcbe522d49cf100f31688e988301186eea08c4a7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-21-37_438485374/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1792.056956156651, + 580.2710272396648, + 48.086118671057086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1794.6550323680044, + 578.7710272396648, + 48.086118671057086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1797.2531085793578, + 577.2710272396648, + 48.086118671057086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1799.8511847907112, + 575.7710272396648, + 48.086118671057086 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1799.8511847907112, + 575.7710272396648, + 48.086118671057086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1801.3511847907112, + 573.1729510283114, + 48.086118671057086 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1852.0, + 532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-38_2059643461/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-38_2059643461/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..352e601c1f557093b2523a1eefd503765ca61b36 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-38_2059643461/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 665.770052760732, + 415.9194444654508, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 664.270052760732, + 418.5175206768041, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 662.770052760732, + 421.1155968881574, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 661.270052760732, + 423.71367309951074, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 659.770052760732, + 426.31174931086406, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 658.270052760732, + 428.9098255222174, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 656.770052760732, + 431.5079017335707, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 655.270052760732, + 434.105977944924, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 653.770052760732, + 436.7040541562773, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 652.270052760732, + 439.30213036763064, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 650.770052760732, + 441.90020657898395, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 649.270052760732, + 444.49828279033727, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 647.770052760732, + 447.0963590016906, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 646.270052760732, + 449.6944352130439, + 43.972001448766825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 644.770052760732, + 452.2925114243972, + 43.972001448766825 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + 484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-46-9_957426576/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-46-9_957426576/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bab8434d20dc0183c2d0f2f038bbe30f549b4fd7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-46-9_957426576/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 25.824640552837465, + 892.5737106778602, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 27.324640552837465, + 895.1717868892135, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.824640552837465, + 897.7698631005669, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 30.324640552837465, + 900.3679393119203, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 31.824640552837465, + 902.9660155232737, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 33.324640552837465, + 905.564091734627, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.824640552837465, + 908.1621679459804, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.324640552837465, + 910.7602441573338, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.824640552837465, + 913.3583203686871, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.324640552837465, + 915.9563965800405, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.824640552837465, + 918.5544727913939, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 42.324640552837465, + 921.1525490027473, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 43.824640552837465, + 923.7506252141006, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.324640552837465, + 926.348701425454, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 46.824640552837465, + 928.9467776368074, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 48.324640552837465, + 931.5448538481608, + 45.676277845354235 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 48.324640552837465, + 931.5448538481608, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 48.324640552837465, + 934.5448538481608, + 45.676277845354235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 48.324640552837465, + 937.5448538481608, + 45.676277845354235 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.0, + 968.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-31_631340353/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-31_631340353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94259d5cea8e2bda2c46eca126ad7000aa47f5e3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-31_631340353/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1766.497966449962, + 407.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1769.0960426613153, + 409.23890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1771.6941188726687, + 410.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1774.292195084022, + 412.23890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1776.8902712953754, + 413.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1779.4883475067288, + 415.23890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1782.0864237180822, + 416.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1784.6844999294356, + 418.23890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1787.282576140789, + 419.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1789.8806523521423, + 421.23890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1792.4787285634957, + 422.73890339538144, + 49.819415011057146 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1792.4787285634957, + 422.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1795.4787285634957, + 422.73890339538144, + 49.819415011057146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1798.4787285634957, + 422.73890339538144, + 49.819415011057146 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1844.0, + 440.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-59_1278792724/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-59_1278792724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d5652dc738e906e990944da24a15eda71630b44 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-49-59_1278792724/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1735.5020437603114, + -1250.2974315716256, + 43.383246951689145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1737.0020437603114, + -1247.6993553602722, + 43.383246951689145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1738.5020437603114, + -1245.1012791489188, + 43.383246951689145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1740.0020437603114, + -1242.5032029375654, + 43.383246951689145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1741.5020437603114, + -1239.905126726212, + 43.383246951689145 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -1196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-10-13_1595154931/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-10-13_1595154931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d13e2834611250444256b03375000214310d28f9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-10-13_1595154931/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1799.2209341466803, + -1126.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1799.2209341466803, + -1123.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1799.2209341466803, + -1120.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1799.2209341466803, + -1117.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1799.2209341466803, + -1114.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1799.2209341466803, + -1111.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1799.2209341466803, + -1108.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1799.2209341466803, + -1105.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1799.2209341466803, + -1102.20701489114, + 42.32146870748666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1799.2209341466803, + -1099.20701489114, + 42.32146870748666 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1800.0, + -1052.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-11-6_1725362297/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-11-6_1725362297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4b3e7dade5c2dbbf11894d56211fe5b8940f73d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-11-6_1725362297/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -960.3433828214811, + 1776.279432468141, + 50.43631537324434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -960.3433828214811, + 1779.279432468141, + 50.43631537324434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.3433828214811, + 1782.279432468141, + 50.43631537324434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.3433828214811, + 1785.279432468141, + 50.43631537324434 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -944.0, + 1868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-18-20_1981393799/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-18-20_1981393799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91aebfd38d15ee978f39e94fe82ce6d68bafe973 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-18-20_1981393799/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 531.346926896227, + -427.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 531.346926896227, + -424.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 531.346926896227, + -421.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 531.346926896227, + -418.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 531.346926896227, + -415.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 531.346926896227, + -412.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 531.346926896227, + -409.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 531.346926896227, + -406.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 531.346926896227, + -403.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 531.346926896227, + -400.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 531.346926896227, + -397.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 531.346926896227, + -394.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 531.346926896227, + -391.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 531.346926896227, + -388.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 531.346926896227, + -385.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 531.346926896227, + -382.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 531.346926896227, + -379.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 531.346926896227, + -376.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 531.346926896227, + -373.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 531.346926896227, + -370.83990171869453, + 67.18060176381857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 531.346926896227, + -367.83990171869453, + 67.18060176381857 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -344.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-1_698374759/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-1_698374759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..331739ac5026349deef8af080c4cf102a583a01e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-1_698374759/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -242.1637233009062, + 204.3426694177319, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -240.6637233009062, + 206.94074562908523, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -239.1637233009062, + 209.53882184043854, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -237.6637233009062, + 212.13689805179186, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -236.1637233009062, + 214.73497426314518, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -234.6637233009062, + 217.3330504744985, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -233.1637233009062, + 219.9311266858518, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -231.6637233009062, + 222.52920289720512, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -230.1637233009062, + 225.12727910855844, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -228.6637233009062, + 227.72535531991176, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -227.1637233009062, + 230.32343153126507, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -225.6637233009062, + 232.9215077426184, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -224.1637233009062, + 235.5195839539717, + 56.36164505081946 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -224.1637233009062, + 235.5195839539717, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -224.1637233009062, + 238.5195839539717, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -224.1637233009062, + 241.5195839539717, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -224.1637233009062, + 244.5195839539717, + 56.36164505081946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -224.1637233009062, + 247.5195839539717, + 56.36164505081946 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -216.0, + 276.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-50_1560307071/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-50_1560307071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..061efd5466cf71155859c7b532f9dbd2b4af5b36 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-21-50_1560307071/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -767.8308271229704, + -1112.6974736485645, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -769.3308271229704, + -1115.2955498599179, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.8308271229704, + -1117.8936260712712, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.3308271229704, + -1120.4917022826246, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -773.8308271229704, + -1123.089778493978, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -775.3308271229704, + -1125.6878547053313, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -776.8308271229704, + -1128.2859309166847, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.3308271229704, + -1130.884007128038, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -779.8308271229704, + -1133.4820833393915, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.3308271229704, + -1136.0801595507448, + 58.20108859276735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -782.8308271229704, + -1138.6782357620982, + 58.20108859276735 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-22-56_644834684/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-22-56_644834684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b93cdc64b75a84854e5e1de7ac6970d3ede5789d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-22-56_644834684/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -533.2918671459315, + 878.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -535.8899433572849, + 877.0672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -538.4880195686383, + 875.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -541.0860957799916, + 874.0672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -543.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -543.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -546.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -549.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -552.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -555.684171991345, + 872.5672668772203, + 49.25733584684135 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -608.0, + 852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-30_1101709878/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-30_1101709878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a216733baaa301c09aeddd90b9490cc7ce6c41ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-30_1101709878/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1724.7839626226423, + 1217.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1722.185886411289, + 1216.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1719.5878101999356, + 1214.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1716.9897339885822, + 1213.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1714.3916577772288, + 1211.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1711.7935815658755, + 1210.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1709.195505354522, + 1208.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1706.5974291431687, + 1207.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1703.9993529318153, + 1205.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1701.401276720462, + 1204.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1698.8032005091086, + 1202.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1696.2051242977552, + 1201.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1693.6070480864018, + 1199.7621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1691.0089718750485, + 1198.2621484950055, + 48.26759188792176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1688.410895663695, + 1196.7621484950055, + 48.26759188792176 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1652.0, + 1172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-5_435482362/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-5_435482362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9deb1adbb19604c192ab839cae088d64321a8130 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-25-5_435482362/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1110.9671443301079, + -961.194251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1113.5652205414613, + -962.694251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1116.1632967528146, + -964.194251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1118.761372964168, + -965.694251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1121.3594491755214, + -967.194251454501, + 53.690126621104234 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1121.3594491755214, + -967.194251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1124.3594491755214, + -967.194251454501, + 53.690126621104234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1127.3594491755214, + -967.194251454501, + 53.690126621104234 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1172.0, + -984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-8_2032652302/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-8_2032652302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d4cffd04be724014d521e2f05c55a2fa9271e7e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-8_2032652302/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 650.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 647.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 644.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 641.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 638.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 635.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 632.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 629.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 629.7687071597006, + -421.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 627.1706309483473, + -423.07215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 624.5725547369939, + -424.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 621.9744785256405, + -426.07215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 619.3764023142871, + -427.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 616.7783261029338, + -429.07215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 614.1802498915804, + -430.57215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 611.582173680227, + -432.07215264363185, + 46.71729744830206 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 611.582173680227, + -432.07215264363185, + 46.71729744830206 + ], + "type": "turn right", + "value": 30, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 611.582173680227, + -432.07215264363185, + 46.71729744830206 + ], + "type": "go straight", + "value": 3, + "yaw": -3.665191429188101 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 608.9840974688736, + -430.57215264363185, + 46.71729744830206 + ], + "type": "stop", + "value": 0, + "yaw": -3.665191429188101 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + -440.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-0_2138328364/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-0_2138328364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab6f54c668119a5b99c2b79ac5d98ae2bb7f2acd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-0_2138328364/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -145.61192128899475, + -186.6494040497888, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -144.11192128899475, + -184.0513278384355, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -142.61192128899475, + -181.45325162708218, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.11192128899475, + -178.85517541572887, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -139.61192128899475, + -176.25709920437555, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -138.11192128899475, + -173.65902299302223, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -136.61192128899475, + -171.06094678166892, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -135.11192128899475, + -168.4628705703156, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -133.61192128899475, + -165.86479435896229, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.11192128899475, + -163.26671814760897, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -130.61192128899475, + -160.66864193625565, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -129.11192128899475, + -158.07056572490234, + 42.46902979074972 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.11192128899475, + -158.07056572490234, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -126.51384507764143, + -156.57056572490234, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -123.91576886628812, + -155.07056572490234, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -121.3176926549348, + -153.57056572490234, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -118.71961644358149, + -152.07056572490234, + 42.46902979074972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -116.12154023222817, + -150.57056572490234, + 42.46902979074972 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-47-3_1211270210/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-47-3_1211270210/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..deff579d6382150d43280c490890d3b185a950c8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-47-3_1211270210/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1788.8074779741341, + -587.4543296620352, + 63.07624153254437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1791.8074779741341, + -587.4543296620352, + 63.07624153254437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1794.8074779741341, + -587.4543296620352, + 63.07624153254437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1797.8074779741341, + -587.4543296620352, + 63.07624153254437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1800.8074779741341, + -587.4543296620352, + 63.07624153254437 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1876.0, + -576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-32_980690626/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-32_980690626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37bad9c86b4f5c98af40c648ad68e3fb0a2f3cf7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-32_980690626/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1696.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1699.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1702.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1705.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1708.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1711.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1714.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1717.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1720.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1723.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1726.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1729.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1732.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1735.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1738.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1741.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1741.531989836353, + -543.8108082335016, + 46.0477922045933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1744.1300660477064, + -545.3108082335016, + 46.0477922045933 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-45_1598564401/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-45_1598564401/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d51c36e88c8868840a93b885243b4b1deb63231 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-48-45_1598564401/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1445.2213156076011, + 970.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1442.6232393962478, + 972.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1440.0251631848944, + 973.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1437.427086973541, + 975.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1434.8290107621876, + 976.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1432.2309345508343, + 978.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1429.632858339481, + 979.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1427.0347821281275, + 981.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1424.4367059167741, + 982.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1421.8386297054208, + 984.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1419.2405534940674, + 985.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1416.642477282714, + 987.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1414.0444010713607, + 988.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1411.4463248600073, + 990.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1408.848248648654, + 991.57861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1406.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1406.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1403.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1400.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1397.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1394.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1391.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1388.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1382.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1379.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1376.2501724373005, + 993.07861828863, + 43.96984185402935 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1356.0, + 1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-51-38_1218272784/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-51-38_1218272784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80f81b0c48f86afe5a2b869958223a239402fa82 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-51-38_1218272784/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1014.3965704903445, + 663.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1011.7984942789913, + 661.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1009.2004180676379, + 660.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1006.6023418562845, + 658.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1004.0042656449311, + 657.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1001.4061894335778, + 655.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 998.8081132222244, + 654.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 996.210037010871, + 652.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 993.6119607995176, + 651.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 991.0138845881643, + 649.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 988.4158083768109, + 648.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 985.8177321654575, + 646.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 983.2196559541042, + 645.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 980.6215797427508, + 643.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 978.0235035313974, + 642.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 975.425427320044, + 640.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 972.8273511086907, + 639.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 970.2292748973373, + 637.8331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 967.6311986859839, + 636.3331903886759, + 52.09951882616336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 965.0331224746305, + 634.8331903886759, + 52.09951882616336 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-55-23_1486235104/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-55-23_1486235104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fdaad5ccde141b94ae648269c9a93746a8262d1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-55-23_1486235104/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1004.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1007.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1010.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1013.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1016.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1019.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1022.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1025.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1028.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1031.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1034.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1037.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1040.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1043.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1046.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1049.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1052.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1055.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1058.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1061.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1061.031987626274, + -776.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1063.6300638376274, + -777.6006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1066.2281400489808, + -779.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1068.8262162603341, + -780.6006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1071.4242924716875, + -782.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1074.022368683041, + -783.6006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1076.6204448943943, + -785.1006598297959, + 52.34288023414334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1079.2185211057476, + -786.6006598297959, + 52.34288023414334 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-36_217985588/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-36_217985588/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ca9233511fec1b739a6ef217002314985a43bb0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-36_217985588/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 658.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 655.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 652.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 649.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 646.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 643.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 640.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 634.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 631.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 628.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 625.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 622.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 622.9728076849548, + 76.35108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 620.3747314736015, + 74.85108558433873, + 45.70553203016228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 617.7766552622481, + 73.35108558433873, + 45.70553203016228 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-9_1045069410/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-9_1045069410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5dbfaa923d5001285eca36c846ed146066de9c7a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-58-9_1045069410/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1383.231258682419, + 257.8264554734703, + 58.855576123516336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1384.731258682419, + 255.22837926211696, + 58.855576123516336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1386.231258682419, + 252.63030305076364, + 58.855576123516336 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1408.0, + 192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-0-22_241315329/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-0-22_241315329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46f549d36229d82be1838fd08544913dfe4e4bfa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-0-22_241315329/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1312.6904765493475, + 565.6811954184237, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1314.1904765493475, + 568.279271629777, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1315.6904765493475, + 570.8773478411304, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1317.1904765493475, + 573.4754240524837, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1318.6904765493475, + 576.0735002638371, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1320.1904765493475, + 578.6715764751905, + 64.66853958724981 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1320.1904765493475, + 578.6715764751905, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1322.788552760701, + 580.1715764751905, + 64.66853958724981 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1322.788552760701, + 580.1715764751905, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1324.288552760701, + 582.7696526865438, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1325.788552760701, + 585.3677288978972, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1327.288552760701, + 587.9658051092506, + 64.66853958724981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1328.788552760701, + 590.563881320604, + 64.66853958724981 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1344.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-21-17_913454833/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-21-17_913454833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1b5063ebd4588948242d10529dbae083dc91b41 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-21-17_913454833/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 685.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 688.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 691.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 694.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 697.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 700.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 703.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 706.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 709.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 712.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 715.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 718.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 721.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 724.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 727.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 730.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 733.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 736.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 739.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 739.3773894274998, + -198.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 741.9754656388532, + -197.10514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 744.5735418502065, + -195.60514784327572, + 67.86592490019544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 747.1716180615599, + -194.10514784327572, + 67.86592490019544 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 764.0, + -192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-22-20_1201162069/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-22-20_1201162069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c493bd0381e8c4921be2645a8f630001f7b8b922 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-22-20_1201162069/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.7020520958654, + -564.7054335252469, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.2020520958654, + -562.1073573138935, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1354.7020520958654, + -559.5092811025402, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1356.2020520958654, + -556.9112048911868, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.7020520958654, + -554.3131286798334, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.2020520958654, + -551.71505246848, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1360.7020520958654, + -549.1169762571267, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1362.2020520958654, + -546.5189000457733, + 67.68484301517599 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1362.2020520958654, + -546.5189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1364.8001283072188, + -545.0189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1367.3982045185721, + -543.5189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1369.9962807299255, + -542.0189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1372.5943569412789, + -540.5189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1375.1924331526322, + -539.0189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1377.7905093639856, + -537.5189000457733, + 67.68484301517599 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1380.388585575339, + -536.0189000457733, + 67.68484301517599 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1408.0, + -508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-28-33_2016747294/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-28-33_2016747294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d80c73f5a4b115d96f0cda586482f4a3c47106b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-28-33_2016747294/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 589.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 592.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 595.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 598.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 601.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 604.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 604.4549001921574, + 186.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 607.0529764035107, + 185.40459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 609.651052614864, + 183.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 612.2491288262174, + 182.40459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 614.8472050375708, + 180.90459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 617.4452812489242, + 179.40459132565985, + 48.790713189030654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 617.4452812489242, + 179.40459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 620.4452812489242, + 179.40459132565985, + 48.790713189030654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 623.4452812489242, + 179.40459132565985, + 48.790713189030654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-30-11_1578037126/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-30-11_1578037126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ce6398f8b13961f23553230d02614ea14d8637e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-30-11_1578037126/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.80932009012093, + -1702.6587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -152.21124387876762, + -1701.1587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -149.6131676674143, + -1699.6587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -147.015091456061, + -1698.1587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -144.41701524470767, + -1696.6587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.81893903335435, + -1695.1587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -139.22086282200104, + -1693.6587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -136.62278661064772, + -1692.1587535991796, + 60.83687831934647 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -136.62278661064772, + -1692.1587535991796, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -135.12278661064772, + -1689.5606773878262, + 60.83687831934647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -133.62278661064772, + -1686.9626011764728, + 60.83687831934647 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.0, + -1656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-41_533424260/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-41_533424260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54483ac6eaca771257215234380c135fa9b367dd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-41_533424260/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.7314201242466, + 187.93204062673692, + 44.64953191498056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 276.7314201242466, + 187.93204062673692, + 44.64953191498056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 273.7314201242466, + 187.93204062673692, + 44.64953191498056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 270.7314201242466, + 187.93204062673692, + 44.64953191498056 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-48-7_822514995/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-48-7_822514995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa12e57fa57f980d9d640f9246ed1d45f76fa6b1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-48-7_822514995/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -283.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -289.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -292.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -295.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -301.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -304.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -307.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -310.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -313.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -319.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -322.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -325.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -328.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -328.39293352273285, + 207.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -330.99100973408616, + 206.3893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.5890859454395, + 204.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -336.1871621567928, + 203.3893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -338.7852383681461, + 201.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -341.3833145794994, + 200.3893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -343.98139079085274, + 198.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -346.57946700220606, + 197.3893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.1775432135594, + 195.8893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -351.7756194249127, + 194.3893381233199, + 55.621845484465084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -354.373695636266, + 192.8893381233199, + 55.621845484465084 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-51-24_656184096/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-51-24_656184096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..159f320faa50d6d04025db1dcde2e11d8e657304 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-51-24_656184096/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1103.7045389627606, + -716.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1103.7045389627606, + -719.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1103.7045389627606, + -722.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1103.7045389627606, + -725.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1103.7045389627606, + -728.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1103.7045389627606, + -731.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1103.7045389627606, + -734.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1103.7045389627606, + -737.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1103.7045389627606, + -740.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1103.7045389627606, + -743.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1103.7045389627606, + -746.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1103.7045389627606, + -749.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1103.7045389627606, + -752.5186309325621, + 67.1583726904351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1103.7045389627606, + -755.5186309325621, + 67.1583726904351 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-57-28_943116035/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-57-28_943116035/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dc9048c20480dc24348c7a12d93f445486ca6e4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-57-28_943116035/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 566.9231252370685, + 209.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 566.9231252370685, + 212.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 566.9231252370685, + 215.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 566.9231252370685, + 218.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 566.9231252370685, + 221.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 566.9231252370685, + 224.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 566.9231252370685, + 227.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 566.9231252370685, + 230.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 566.9231252370685, + 233.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 566.9231252370685, + 236.0240478091003, + 63.54986693721075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 566.9231252370685, + 239.0240478091003, + 63.54986693721075 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-31_1478326644/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-31_1478326644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84a30003b5f22174afb49e8f036a5991d8056125 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-31_1478326644/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1133.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1136.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1139.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1142.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1145.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1148.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1151.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1154.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1157.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1160.9756485750788, + -258.05718078615183, + 49.64005771903705 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-6_930104896/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-6_930104896/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..556c03987d8767ad1ad569ffbb7475c5ee3be060 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-6_930104896/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -257.82139305318924, + 190.97465856178547, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -259.32139305318924, + 188.37658235043216, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -260.82139305318924, + 185.77850613907884, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -262.32139305318924, + 183.18042992772553, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -263.82139305318924, + 180.5823537163722, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -265.32139305318924, + 177.9842775050189, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -266.82139305318924, + 175.38620129366558, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -268.32139305318924, + 172.78812508231226, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -269.82139305318924, + 170.19004887095895, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -271.32139305318924, + 167.59197265960563, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -272.82139305318924, + 164.99389644825231, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.32139305318924, + 162.395820236899, + 57.504191451054616 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -274.32139305318924, + 162.395820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -276.91946926454256, + 160.895820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -279.5175454758959, + 159.395820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.1156216872492, + 157.895820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -284.7136978986025, + 156.395820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.3117741099558, + 154.895820236899, + 57.504191451054616 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.90985032130914, + 153.395820236899, + 57.504191451054616 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-0-28_669161002/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-0-28_669161002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65aff5256f8a8d1bd52762cdc81dd3336b72e049 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-0-28_669161002/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1676.652451489094, + 879.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1676.652451489094, + 876.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1676.652451489094, + 873.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1676.652451489094, + 870.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1676.652451489094, + 867.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1676.652451489094, + 864.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1676.652451489094, + 861.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1676.652451489094, + 858.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1676.652451489094, + 855.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1676.652451489094, + 852.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1676.652451489094, + 849.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1676.652451489094, + 846.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1676.652451489094, + 843.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1676.652451489094, + 840.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1676.652451489094, + 837.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1676.652451489094, + 834.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1676.652451489094, + 831.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1676.652451489094, + 828.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1676.652451489094, + 825.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1676.652451489094, + 822.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1676.652451489094, + 819.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1676.652451489094, + 816.2491948213473, + 53.344825430487305 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1676.652451489094, + 816.2491948213473, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1675.152451489094, + 813.651118609994, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1673.652451489094, + 811.0530423986406, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1672.152451489094, + 808.4549661872873, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1670.652451489094, + 805.8568899759339, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1669.152451489094, + 803.2588137645805, + 53.344825430487305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1667.652451489094, + 800.6607375532271, + 53.344825430487305 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1664.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-11-50_80869451/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-11-50_80869451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2303726b5aeb5cb255fafac5e3f439664bce8498 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-11-50_80869451/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1234.4591458193124, + -831.0901691605395, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1232.9591458193124, + -833.6882453718929, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1231.4591458193124, + -836.2863215832463, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1229.9591458193124, + -838.8843977945996, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1228.4591458193124, + -841.482474005953, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1226.9591458193124, + -844.0805502173064, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1225.4591458193124, + -846.6786264286598, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1223.9591458193124, + -849.2767026400131, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1222.4591458193124, + -851.8747788513665, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1220.9591458193124, + -854.4728550627199, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1219.4591458193124, + -857.0709312740732, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1217.9591458193124, + -859.6690074854266, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1216.4591458193124, + -862.26708369678, + 60.15351294181381 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1216.4591458193124, + -862.26708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1213.861069607959, + -863.76708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1211.2629933966057, + -865.26708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1208.6649171852523, + -866.76708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1206.066840973899, + -868.26708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1203.4687647625456, + -869.76708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1200.8706885511922, + -871.26708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1198.2726123398388, + -872.76708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1195.6745361284854, + -874.26708369678, + 60.15351294181381 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1195.6745361284854, + -874.26708369678, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1194.1745361284854, + -876.8651599081334, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1192.6745361284854, + -879.4632361194867, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1191.1745361284854, + -882.0613123308401, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1189.6745361284854, + -884.6593885421935, + 60.15351294181381 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1188.1745361284854, + -887.2574647535469, + 60.15351294181381 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1180.0, + -896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-12-17_1529695171/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-12-17_1529695171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d38ffa7e4040acd7de36ac5189ba35dbd175d00 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-12-17_1529695171/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 271.89312454506523, + 960.9712433473258, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.39312454506523, + 963.5693195586791, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 268.89312454506523, + 966.1673957700325, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.39312454506523, + 968.7654719813859, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 265.89312454506523, + 971.3635481927392, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 264.39312454506523, + 973.9616244040926, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.89312454506523, + 976.559700615446, + 40.34294319832301 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.89312454506523, + 976.559700615446, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.89312454506523, + 979.559700615446, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.89312454506523, + 982.559700615446, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 262.89312454506523, + 985.559700615446, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.89312454506523, + 988.559700615446, + 40.34294319832301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.89312454506523, + 991.559700615446, + 40.34294319832301 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + 1020.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-17-26_2042028215/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-17-26_2042028215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02c9909c326d995f5277c5b2ca81c6aff57a578a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-17-26_2042028215/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1545.8713905721534, + -840.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1543.2733143608, + -838.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1540.6752381494466, + -837.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1538.0771619380932, + -835.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1535.4790857267399, + -834.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1532.8810095153865, + -832.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1530.2829333040331, + -831.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1527.6848570926797, + -829.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1525.0867808813264, + -828.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1522.488704669973, + -826.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1519.8906284586196, + -825.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1517.2925522472663, + -823.5147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1514.6944760359129, + -822.0147264656196, + 48.83654547860924 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1514.6944760359129, + -822.0147264656196, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1513.1944760359129, + -819.4166502542662, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1511.6944760359129, + -816.8185740429128, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1510.1944760359129, + -814.2204978315594, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1508.6944760359129, + -811.6224216202061, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1507.1944760359129, + -809.0243454088527, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1505.6944760359129, + -806.4262691974993, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1504.1944760359129, + -803.828192986146, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1502.6944760359129, + -801.2301167747926, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1501.1944760359129, + -798.6320405634392, + 48.83654547860924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1499.6944760359129, + -796.0339643520858, + 48.83654547860924 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1476.0, + -776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-27-5_2026061770/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-27-5_2026061770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c7a595a48f0b1b28fba8b335b060524baf06c5a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-27-5_2026061770/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1777.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1780.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1783.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1786.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1789.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1792.3964718205293, + 308.3778548556975, + 68.33327053227471 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1856.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-34_739068399/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-34_739068399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb3d76051ebf1bcb5bb55d4f4058a5d0c52d3d59 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-34_739068399/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1491.0562011796605, + -561.1970160549924, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1492.5562011796605, + -563.7950922663458, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1494.0562011796605, + -566.3931684776992, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1495.5562011796605, + -568.9912446890526, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1497.0562011796605, + -571.5893209004059, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1498.5562011796605, + -574.1873971117593, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1500.0562011796605, + -576.7854733231127, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1501.5562011796605, + -579.383549534466, + 50.311958346410066 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1501.5562011796605, + -579.383549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1504.154277391014, + -580.883549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1506.7523536023673, + -582.383549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1509.3504298137207, + -583.883549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1511.948506025074, + -585.383549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1514.5465822364274, + -586.883549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1517.1446584477808, + -588.383549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1519.7427346591342, + -589.883549534466, + 50.311958346410066 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1519.7427346591342, + -589.883549534466, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1521.2427346591342, + -592.4816257458194, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1522.7427346591342, + -595.0797019571728, + 50.311958346410066 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1524.2427346591342, + -597.6777781685262, + 50.311958346410066 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + -616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-6_229548226/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-6_229548226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12d4ccfa5df00d776f1cb70c13bb722db145b32e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-6_229548226/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1015.4997931125805, + -1217.7192738325691, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1018.0978693239338, + -1216.2192738325691, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1020.6959455352871, + -1214.7192738325691, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1023.2940217466405, + -1213.2192738325691, + 61.64416008360605 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1023.2940217466405, + -1213.2192738325691, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1024.7940217466405, + -1210.6211976212157, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1026.2940217466405, + -1208.0231214098624, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1027.7940217466405, + -1205.425045198509, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1029.2940217466405, + -1202.8269689871556, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1030.7940217466405, + -1200.2288927758023, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1032.2940217466405, + -1197.6308165644489, + 61.64416008360605 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1032.2940217466405, + -1197.6308165644489, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1034.8920979579939, + -1196.1308165644489, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1037.4901741693473, + -1194.6308165644489, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1040.0882503807006, + -1193.1308165644489, + 61.64416008360605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1042.686326592054, + -1191.6308165644489, + 61.64416008360605 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-37-4_560318023/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-37-4_560318023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bebedb5d554ac1d070277851c941e45121e3ed8a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-37-4_560318023/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1391.678665476675, + -363.49670095680267, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1390.178665476675, + -366.094777168156, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1388.678665476675, + -368.6928533795093, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1387.178665476675, + -371.2909295908626, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1385.678665476675, + -373.88900580221593, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1384.178665476675, + -376.48708201356925, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1382.678665476675, + -379.08515822492257, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1381.178665476675, + -381.6832344362759, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1379.678665476675, + -384.2813106476292, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1378.178665476675, + -386.8793868589825, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1376.678665476675, + -389.47746307033583, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1375.178665476675, + -392.07553928168915, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1373.678665476675, + -394.67361549304246, + 48.10808895048155 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1373.678665476675, + -394.67361549304246, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1371.0805892653216, + -396.17361549304246, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1368.4825130539682, + -397.67361549304246, + 48.10808895048155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1365.8844368426148, + -399.17361549304246, + 48.10808895048155 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1352.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-43-32_1123716509/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-43-32_1123716509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50c084404c99ef3ce5c8d62a388eba0f196817c2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-43-32_1123716509/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1779.5799306313031, + 622.1155819479493, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1778.0799306313031, + 619.5175057365959, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1776.5799306313031, + 616.9194295252425, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1775.0799306313031, + 614.3213533138892, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1773.5799306313031, + 611.7232771025358, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1772.0799306313031, + 609.1252008911824, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1770.5799306313031, + 606.5271246798291, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1769.0799306313031, + 603.9290484684757, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1767.5799306313031, + 601.3309722571223, + 41.486531494757706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1766.0799306313031, + 598.7328960457689, + 41.486531494757706 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + 544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-45-13_817482649/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-45-13_817482649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33802535cd2a242718c88bcdbee75cfe974cfb5f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-45-13_817482649/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 438.22195908799927, + 436.1443961452126, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 439.72195908799927, + 438.74247235656594, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.22195908799927, + 441.34054856791926, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 442.72195908799927, + 443.9386247792726, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 444.22195908799927, + 446.5367009906259, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 445.72195908799927, + 449.1347772019792, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 447.22195908799927, + 451.7328534133325, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 448.72195908799927, + 454.33092962468584, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 450.22195908799927, + 456.92900583603915, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 451.72195908799927, + 459.52708204739247, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 453.22195908799927, + 462.1251582587458, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 454.72195908799927, + 464.7232344700991, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 456.22195908799927, + 467.3213106814524, + 46.7111114050974 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 456.22195908799927, + 467.3213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.8200352993526, + 468.8213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 461.4181115107059, + 470.3213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 464.0161877220592, + 471.8213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 466.61426393341253, + 473.3213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 469.21234014476585, + 474.8213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 471.81041635611916, + 476.3213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.4084925674725, + 477.8213106814524, + 46.7111114050974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 477.0065687788258, + 479.3213106814524, + 46.7111114050974 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-46-20_637438146/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-46-20_637438146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b76db18b2819c3cab72c512c1555cc5b2cf84564 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-46-20_637438146/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.03777683325617, + 600.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.43970062190286, + 598.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.84162441054954, + 597.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.24354819919623, + 595.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.64547198784291, + 594.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.0473957764896, + 592.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.44931956513628, + 591.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.85124335378296, + 589.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.25316714242965, + 588.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.65509093107633, + 586.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.05701471972301, + 585.3236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 82.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 79.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 64.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 61.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.4589385083697, + 583.8236686203628, + 45.25444805729185 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-51-35_400660703/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-51-35_400660703/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ad275dbef611fa7b5eb82d79f9178668320c1be --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-51-35_400660703/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 441.9122061597702, + 664.1726088325257, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 443.4122061597702, + 661.5745326211725, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 444.9122061597702, + 658.9764564098191, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 446.4122061597702, + 656.3783801984657, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 447.9122061597702, + 653.7803039871123, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 449.4122061597702, + 651.182227775759, + 53.45682899680679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 450.9122061597702, + 648.5841515644056, + 53.45682899680679 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-54-46_324323221/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-54-46_324323221/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab52013e426ff41a39409604bbbd52aeb2c302f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-54-46_324323221/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1023.3137009019478, + 1337.0523205247487, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1021.8137009019478, + 1334.4542443133953, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1020.3137009019478, + 1331.856168102042, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1018.8137009019478, + 1329.2580918906885, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1017.3137009019478, + 1326.6600156793352, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1015.8137009019478, + 1324.0619394679818, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1014.3137009019478, + 1321.4638632566284, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1012.8137009019478, + 1318.865787045275, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1011.3137009019478, + 1316.2677108339217, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1009.8137009019478, + 1313.6696346225683, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1008.3137009019478, + 1311.071558411215, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1006.8137009019478, + 1308.4734821998616, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1005.3137009019478, + 1305.8754059885082, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1003.8137009019478, + 1303.2773297771548, + 44.70563808417212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1002.3137009019478, + 1300.6792535658014, + 44.70563808417212 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -992.0, + 1280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-2-13_1862140492/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-2-13_1862140492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d0f1e4f135569d08e64561480f01b44844930ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-2-13_1862140492/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 154.05237466131626, + 813.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 151.45429844996295, + 812.2281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.85622223860963, + 810.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.25814602725632, + 809.2281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 143.660069815903, + 807.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 141.06199360454968, + 806.2281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 138.46391739319637, + 804.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 135.86584118184305, + 803.2281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 133.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 130.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 127.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 124.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 121.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 118.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 115.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.26776497048974, + 801.7281372842555, + 49.88742581764298 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-20-54_191471704/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-20-54_191471704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99e17d5044a6c1f028910f7a605eccab28bbc54f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-20-54_191471704/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1773.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1776.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1779.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1782.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1785.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1788.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1791.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1794.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1797.870653433974, + 863.4072010227669, + 45.87153363666037 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-21-51_754963290/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-21-51_754963290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30137dc2f6fb6bbec926012180f80747ac165be8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-21-51_754963290/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1786.314465125567, + -1452.615481930836, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1787.814465125567, + -1455.2135581421894, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1789.314465125567, + -1457.8116343535428, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1790.814465125567, + -1460.4097105648962, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1792.314465125567, + -1463.0077867762495, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1793.814465125567, + -1465.605862987603, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1795.314465125567, + -1468.2039391989563, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1796.814465125567, + -1470.8020154103097, + 53.91137913826991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1798.314465125567, + -1473.400091621663, + 53.91137913826991 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + -1516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-5_1076261902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-5_1076261902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab60930b17aca3f6117f11ff6c8e0783468cc6ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-5_1076261902/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -439.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -436.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -433.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -430.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -427.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -427.9147956965644, + 215.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -425.3167194852111, + 213.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -422.71864327385777, + 212.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -420.12056706250445, + 210.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -417.52249085115113, + 209.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -414.9244146397978, + 207.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -412.3263384284445, + 206.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -409.7282622170912, + 204.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -407.13018600573787, + 203.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -404.53210979438455, + 201.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -401.93403358303124, + 200.11423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -399.3359573716779, + 198.61423163346834, + 46.35974921529104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.7378811603246, + 197.11423163346834, + 46.35974921529104 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-3-28_2129768394/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-3-28_2129768394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33cf8f196dd93c660c5d556ae70221de5b42e5d8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-3-28_2129768394/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1764.935874720948, + 1620.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1767.5339509323014, + 1618.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1770.1320271436548, + 1617.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1772.7301033550082, + 1615.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1775.3281795663615, + 1614.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1777.926255777715, + 1612.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1780.5243319890683, + 1611.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1783.1224082004217, + 1609.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1785.720484411775, + 1608.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1788.3185606231284, + 1606.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1790.9166368344818, + 1605.30327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1793.5147130458352, + 1603.80327432629, + 50.24225873161775 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1793.5147130458352, + 1603.80327432629, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1795.0147130458352, + 1601.2051981149366, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1796.5147130458352, + 1598.6071219035832, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1798.0147130458352, + 1596.0090456922298, + 50.24225873161775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1799.5147130458352, + 1593.4109694808765, + 50.24225873161775 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1840.0, + 1564.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-15_2078175617/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-15_2078175617/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0db7c3eb1489c218148cb25009b3804bad693dea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-15_2078175617/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 169.9183412065268, + -474.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 167.3202649951735, + -476.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 164.72218878382017, + -477.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 162.12411257246686, + -479.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 159.52603636111354, + -480.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 156.92796014976022, + -482.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 154.3298839384069, + -483.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 151.7318077270536, + -485.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 149.13373151570028, + -486.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 146.53565530434696, + -488.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 143.93757909299364, + -489.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 141.33950288164033, + -491.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.741426670287, + -492.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 136.1433504589337, + -494.27159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 133.54527424758038, + -495.77159648223824, + 63.37101986152241 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 133.54527424758038, + -495.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 130.54527424758038, + -495.77159648223824, + 63.37101986152241 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 127.54527424758038, + -495.77159648223824, + 63.37101986152241 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-41-12_1368293026/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-41-12_1368293026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..570057a6229cdb2ffcd5ad90e30cef47af75941d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-41-12_1368293026/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1121.41725675276, + -309.8263213899845, + 44.77494537336771 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1122.91725675276, + -312.42439760133783, + 44.77494537336771 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1124.41725675276, + -315.02247381269115, + 44.77494537336771 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1125.91725675276, + -317.62055002404446, + 44.77494537336771 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + -392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-48-5_1561006484/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-48-5_1561006484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eaec5afe99617492620f90c792bd02d3cdb28d9d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-48-5_1561006484/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 709.559597537716, + 920.0456292778816, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 711.059597537716, + 922.6437054892349, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 712.559597537716, + 925.2417817005883, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 714.059597537716, + 927.8398579119416, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 715.559597537716, + 930.437934123295, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 717.059597537716, + 933.0360103346484, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 718.559597537716, + 935.6340865460018, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 720.059597537716, + 938.2321627573551, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 721.559597537716, + 940.8302389687085, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 723.059597537716, + 943.4283151800619, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 724.559597537716, + 946.0263913914152, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 726.059597537716, + 948.6244676027686, + 55.49335962503592 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 726.059597537716, + 948.6244676027686, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 726.059597537716, + 951.6244676027686, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 726.059597537716, + 954.6244676027686, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 726.059597537716, + 957.6244676027686, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 726.059597537716, + 960.6244676027686, + 55.49335962503592 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 726.059597537716, + 963.6244676027686, + 55.49335962503592 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 736.0, + 988.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-59-41_950615538/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-59-41_950615538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ece294f3d8d95e5ee7ddc92f3ff75669addbcfc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-59-41_950615538/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1427.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1430.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1433.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1436.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1439.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1442.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1445.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1448.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1451.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1451.2446884564968, + -1295.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1453.8427646678501, + -1294.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1456.4408408792035, + -1292.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1459.0389170905569, + -1291.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1461.6369933019103, + -1289.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1464.2350695132636, + -1288.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1466.833145724617, + -1286.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1469.4312219359704, + -1285.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1472.0292981473237, + -1283.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1474.6273743586771, + -1282.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1477.2254505700305, + -1280.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1479.8235267813839, + -1279.4249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1482.4216029927372, + -1277.9249222492786, + 55.466833181760705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1485.0196792040906, + -1276.4249222492786, + 55.466833181760705 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-1-10_1858983422/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-1-10_1858983422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62fd21027c5da95083140bad87c521cdca7ee1a6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-1-10_1858983422/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 787.1492555137945, + -397.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 784.5511793024411, + -399.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 781.9531030910878, + -400.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 779.3550268797344, + -402.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 776.756950668381, + -403.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 774.1588744570277, + -405.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 771.5607982456743, + -406.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 768.9627220343209, + -408.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 766.3646458229675, + -409.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 763.7665696116142, + -411.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 761.1684934002608, + -412.5024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 758.5704171889074, + -414.0024784514831, + 52.37897916066274 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 758.5704171889074, + -414.0024784514831, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 757.0704171889074, + -416.60055466283643, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 755.5704171889074, + -419.19863087418975, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 754.0704171889074, + -421.79670708554306, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 752.5704171889074, + -424.3947832968964, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 751.0704171889074, + -426.9928595082497, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 749.5704171889074, + -429.590935719603, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 748.0704171889074, + -432.1890119309563, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 746.5704171889074, + -434.78708814230964, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 745.0704171889074, + -437.38516435366296, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 743.5704171889074, + -439.9832405650163, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 742.0704171889074, + -442.5813167763696, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 740.5704171889074, + -445.1793929877229, + 52.37897916066274 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 740.5704171889074, + -445.1793929877229, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 737.972340977554, + -446.6793929877229, + 52.37897916066274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 735.3742647662007, + -448.1793929877229, + 52.37897916066274 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 720.0, + -464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-10-41_276217690/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-10-41_276217690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..547987bf0a97013e2e4c4f79faffd6a89062b5df --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-10-41_276217690/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1029.2937722408074, + -276.94774650344726, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1027.7937722408074, + -274.34967029209395, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1026.2937722408074, + -271.75159408074063, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1024.7937722408074, + -269.1535178693873, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1023.2937722408074, + -266.555441658034, + 49.35613091643185 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1023.2937722408074, + -266.555441658034, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1023.2937722408074, + -263.555441658034, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1023.2937722408074, + -260.555441658034, + 49.35613091643185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1023.2937722408074, + -257.555441658034, + 49.35613091643185 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-12-26_1614718295/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-12-26_1614718295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a41f4f40a8b5a594024f6deb3a56acca37f816d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-12-26_1614718295/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.5816084652133, + -1101.7285867093788, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -775.0816084652133, + -1099.1305104980254, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -776.5816084652133, + -1096.532434286672, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -778.0816084652133, + -1093.9343580753186, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -779.5816084652133, + -1091.3362818639653, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -781.0816084652133, + -1088.738205652612, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -782.5816084652133, + -1086.1401294412585, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -784.0816084652133, + -1083.5420532299052, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -785.5816084652133, + -1080.9439770185518, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -787.0816084652133, + -1078.3459008071984, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -788.5816084652133, + -1075.747824595845, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.0816084652133, + -1073.1497483844917, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -791.5816084652133, + -1070.5516721731383, + 44.03485397796438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -793.0816084652133, + -1067.953595961785, + 44.03485397796438 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.0, + -1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-9_649830540/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-9_649830540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..792a829e53d73b226277b95c674b0e28242ddd3f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-9_649830540/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1133.6898052894728, + 1161.0518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1136.2878815008262, + 1162.5518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1138.8859577121796, + 1164.0518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1141.484033923533, + 1165.5518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1144.0821101348863, + 1167.0518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1146.6801863462397, + 1168.5518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1149.278262557593, + 1170.0518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1151.8763387689464, + 1171.5518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1154.4744149802998, + 1173.0518438431614, + 53.51314148276284 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1154.4744149802998, + 1173.0518438431614, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1155.9744149802998, + 1175.6499200545147, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1157.4744149802998, + 1178.247996265868, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1158.9744149802998, + 1180.8460724772215, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1160.4744149802998, + 1183.4441486885748, + 53.51314148276284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1161.9744149802998, + 1186.0422248999282, + 53.51314148276284 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + 1208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-21-1_1376108019/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-21-1_1376108019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16c21e6a39c81db5b65b293014a703bedc20ed96 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-21-1_1376108019/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1113.1068281875423, + -475.21026286255653, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1114.6068281875423, + -472.6121866512032, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1116.1068281875423, + -470.0141104398499, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1117.6068281875423, + -467.4160342284966, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1119.1068281875423, + -464.81795801714327, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1120.6068281875423, + -462.21988180578995, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1122.1068281875423, + -459.62180559443664, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1123.6068281875423, + -457.0237293830833, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1125.1068281875423, + -454.42565317173, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1126.6068281875423, + -451.8275769603767, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1128.1068281875423, + -449.2295007490234, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1129.6068281875423, + -446.63142453767006, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1131.1068281875423, + -444.03334832631674, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1132.6068281875423, + -441.4352721149634, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1134.1068281875423, + -438.8371959036101, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1135.6068281875423, + -436.2391196922568, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1137.1068281875423, + -433.6410434809035, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1138.6068281875423, + -431.04296726955016, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1140.1068281875423, + -428.44489105819684, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1141.6068281875423, + -425.84681484684353, + 69.9576154268605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1143.1068281875423, + -423.2487386354902, + 69.9576154268605 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + -392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-22-52_1722844083/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-22-52_1722844083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5037bde9a5147724cd884b20c2ad88f5a916104a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-22-52_1722844083/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1757.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1754.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1751.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1748.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1745.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1742.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1739.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1736.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1733.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1730.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1727.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1724.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1721.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1718.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1715.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1712.9639216857825, + 1785.43330342605, + 67.35434231619544 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-25-20_503984129/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-25-20_503984129/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16ba88f826e72c4e2e50b5d51fb954260037ef87 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-25-20_503984129/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1217.6556372736864, + -879.8358060553286, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1219.1556372736864, + -877.2377298439753, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1220.6556372736864, + -874.639653632622, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1222.1556372736864, + -872.0415774212686, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1223.6556372736864, + -869.4435012099152, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1225.1556372736864, + -866.8454249985618, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1226.6556372736864, + -864.2473487872085, + 59.238759318734864 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1226.6556372736864, + -864.2473487872085, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1226.6556372736864, + -861.2473487872085, + 59.238759318734864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1226.6556372736864, + -858.2473487872085, + 59.238759318734864 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-33-16_2064604173/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-33-16_2064604173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e97a7747de96ac6346268554f7f5e031b42f4939 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-33-16_2064604173/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 901.0991083370201, + -1350.6235576328627, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 899.5991083370201, + -1353.221633844216, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 898.0991083370201, + -1355.8197100555694, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 896.5991083370201, + -1358.4177862669228, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 895.0991083370201, + -1361.0158624782762, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 893.5991083370201, + -1363.6139386896295, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 892.0991083370201, + -1366.212014900983, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 890.5991083370201, + -1368.8100911123363, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 889.0991083370201, + -1371.4081673236897, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 887.5991083370201, + -1374.006243535043, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 886.0991083370201, + -1376.6043197463964, + 54.96921261106072 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 886.0991083370201, + -1376.6043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 883.5010321256668, + -1378.1043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 880.9029559143135, + -1379.6043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 878.3048797029601, + -1381.1043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 875.7068034916067, + -1382.6043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 873.1087272802533, + -1384.1043197463964, + 54.96921261106072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 870.5106510689, + -1385.6043197463964, + 54.96921261106072 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-37-4_529235706/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-37-4_529235706/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42ee619ab32a7601fe071a68fc043acc61f4a07f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-37-4_529235706/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 47.52542399636354, + -224.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 44.92734778501023, + -226.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.32927157365691, + -227.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 39.731195362303595, + -229.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.13311915095028, + -230.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.53504293959696, + -232.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 31.936966728243647, + -233.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 29.33889051689033, + -235.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 26.740814305537015, + -236.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 24.1427380941837, + -238.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 21.544661882830383, + -239.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 18.946585671477067, + -241.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 16.34850946012375, + -242.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 13.750433248770435, + -244.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 11.152357037417119, + -245.60623951160443, + 63.2365506657447 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 11.152357037417119, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.152357037417119, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 5.152357037417119, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2.1523570374171186, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.8476429625828814, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -3.8476429625828814, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -6.847642962582881, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -9.847642962582881, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -12.847642962582881, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -15.847642962582881, + -245.60623951160443, + 63.2365506657447 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.847642962582881, + -245.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -18.445719173936197, + -247.10623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -21.043795385289513, + -248.60623951160443, + 63.2365506657447 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -21.043795385289513, + -248.60623951160443, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -22.543795385289513, + -251.20431572295774, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -24.043795385289513, + -253.80239193431106, + 63.2365506657447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -25.543795385289513, + -256.4004681456644, + 63.2365506657447 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +}